Contents Chapter 1 Overview 2 Model Selection Servo Motor Specification and Dimension Servo Drive Specification and Dimension...

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2 Contents Chapter 1 Overview Product confirmation Product confirmation items servo drive nameplate servo motor nameplate Product name Servo motor names Servo drive names Model Selection Servo motor model specification Servo drive model specification Servo system config specs list Cable model selection Peripherals Braking resistance Servo Motor Specification and Dimension Servo motor standard specification(smm series) Servo motor dimension checklist SMM06- -U1NL5 installation dimension SMM08- -U1NL5 installation dimension SMM11- -U1NH installation dimension SMM13- -U1NH5 installation dimension SMM13- -U1NH5 installation dimension Servo Drive Specification and Dimension Servo drive standard specification V level servo drive V level servo drive Servo drive general rated value and specification Servo drive overload protection features Servo drive dimension size list Cable Specification and Dimension Servo motor power cable Servo motor encoder cable Servo motor brake cable Servo drive input/output cable Servo drive input/output cable outline drawing... 22

3 5.4.2 Servo drive input/output cable wiring diagram Servo drive communication cable Servo drive communication cable outline drawing Servo drive communication cable wiring diagram Wiring Main circuit wire Main circuit terminal name and specification Main circuit power supply connector(spring-type) wiring method Typical main circuit wiring cases CN1 input/output(io)signal wiring CN1 input/output(io) connecting cases Input/output signal (CN1) interface circuit CN2 encoder signal wiring CN3 communication port signal wiring Panel Display and Operation Panel name Parameter setting process Status display Function parameter change setting display Fault and alarm display Parameter display Monitor parameter display Panel Display and Operation Initial state of panel display (7 step LED) Monitor parameter display (part) Maintenance and Inspection Abnormality diagnosis and treatment measures Alarm display checklist Fault Causes and Treatment Other conditions and treatment measures Servo maintenance and inspection Servo motor repairment Servo drive repairment General standard for servo unit interior parts replacement Function Parameters... 65

4 NOTESD600A Series AC Servo System Manual Overview Chapter 1 Overview 1.1 Product Confirmation Product Confirmation Items On receiving the product, please confirm the following items. Confirmation items If the product is the one you ordered If servo motor rotation axis is running smoothly Is there any broken Note Please confirm according to the model on the servo motor template. Rotate gently means normal; rotate stuck means abnormal Check the appearance, check if there s damage caused by transport Any problem found during product confirmation, please do not do the trial run, please contact the local support vendor or the company's technology department. Other than servo drives and servo motors, operable servo components also include: Standard components Optional components Name Qty Function Note 5PIN spring wiring terminal 1 Connecting power input L1C,L2C,L1,L2,L3 3PIN spring 1 Connecting U,V,W For drives not more than wiring terminal a 1.5KW Connecting P,D,C(braking resistance 3PIN spring 1 selection terminal) wiring terminal b (attached with 2 spring handle, 1 jumper) User manual 1 Servo user manual 6Pin serial port plug 44Pin serial port plug 1 1 Metal jumper 1 Plug suite 1 Motor power wire 1 Encoder wire 1 Connecting CN3 communication signal terminal Connecting CN1 communication signal terminal Using internal braking resistance jumper (connecting PD) Motor encoder and power wire adaptable plug(1 set including 2 plugs) One end is connected to the motor terminals; the other end connecting by three servo drive phase sequence U,V, W; the yellow-green ground wire connected to the servo drive One end is connected to the encoder phase, the other end connecting to the drive CN2. For all series For drives not less than 2.2KW Users buy wire by themselves Buy standard cable from our company, please refer to this manual when you buy: Chapter 2.4 Cable Selection - Page 6 1

5 Overview servo drive nameplate servo motor nameplate 1.2 Product name Servo motor names Flange Encoder connection Motor power connector Output axis direct line motor 2

6 Overview Servo drive names Foot of radiator Fix drive and radiator Power Indicator If the light is on, it means there are voltage in control circuit Control circuit power supply L1C, L2C provide AC 220V or 380V power supply Mains supply L1, L2, L3 and even AC220V or 380V power supply Servo motor output UVW connecting with the motor can not be connected to the power supply Internal and external braking resistor 1 Use the built-in braking resistor: P, D shorted, P, C open 2 Use the external braking resistor: P, D open, P, C resistors Safe earth terminal Display five 7-segment LED display drive status Operation buttons check or modify the function code parameters Control connector Connected programmable controller (PLC) or control I / O connection Nameplate Related information Encoder connector RS485/CAN connector Connecting PC, touch screen or controller 3

7 Model Selection 2.1 servo motor model specification Chapter 2 Model Selection SMM 06-2 T R20 - U1 N L 5 Motor type SMM:Synchronous Motor Motor Series 5:5Pole series Motor frame sizes(mm) 06Machine base: Machine base: Machine base: Machine base: Machine base: Wire outlet L:direct outlet(60,80flange) H:Aviation plug outlet (110~180Flange) Brakes N:No loss power brake B:Loss power brake Drive input voltage 2: 220V 3:380V Feedback equipment U1:Non-line incremental encoder2500p/rev servo motor output rated power Rated speed L: 1000r/min Y: 1500r/min S: 2000r/min U: 2500r/min T: 3000r/min 2.2 Servo drive model specification SD600A - S2 - R20 N Mark R20 Power 0.2KW Mark R40 R KW 1R0 1R2 1.2KW 1R3 1R5 1.5KW 1R8 2R0 2.0KW 2R3 2R6 2.6KW 2R9 3R8 3.8KW 4R4 5R5 5.5KW 7R5 Power 0.4KW 1KW 1.3KW 1.8KW 2.3KW 2.9KW 4.4KW 7.5KW Product serial number SD600A:Servo drive Drive input voltage S2:Single phase220v T2:Three phase220v T3:Three phase380v Servo drive supporting communication types N:485/CAN Null:485(standard) Servo drive output rated power Mark R20 Power 0.2KW Mark R40 Power 0.4KW R KW 1R0 1KW 1R5 1.5KW 2R2 2.2KW 3R0 3.0KW 4R5 4.5KW 5R5 5.5KW 7R5 7.5KW 4

8 Model Selection 2.3 Servo system config specs list AC220V voltage level Rated speed Servo motor Servo drive (rpm) Power(KW) Model:SMM - -*** AC220V 0.1 SMM06-2TR10-U1NL5 SD600A-S2-R SMM06-2TR20-U1NL5 SD600A-S2-R20 60 flange 0.4 SMM06-2TR40-U1NL5 SD600A-S2-R SMM06-2TR60-U1NL5 SD600A-T2-R SMM08-2TR75-U1NL5 SD600A-S2-R75 80flange SMM08-2TR75-U1NL5 SD600A-T2-R75 1 SMM08-2T1R0-U1NL5 SD600A-T2-1R0 1.2 SMM11-2T1R2-U1NH SD600A-T2-1R flange SMM11-2T1R5-U1NH SD600A-T2-1R5 1.8 SMM11-2T1R8-U1NH SD600A-T2-1R5 1 SMM13-2U1R0-U1NH5 SD600A-T2-1R0 1.3 SMM13-2U1R3-U1NH5 SD600A-T2-1R flange SMM13-2U1R5-U1NH5 SD600A-T2-1R5 2 SMM13-2U2R0-U1NH5 SD600A-T2-1R5 2.6 SMM13-2U2R6-U1NH5 SD600A-T2-2R2 3.8 SMM13-2U3R8-U1NH5 SD600A-T2-3R flange SMM11-2S1R2-U1NH SD600A-T2-1R0 1.5 SMM13-2Y1R5-U1NH5 SD600A-T2-1R flange 2.3 SMM13-2Y2R3-U1NH5 SD600A-T2-2R flange SMM13-2L1R0-U1NH5 SD600A-T2-1R0 AC380V voltage level Rated speed (rpm) 1500 Servo motor Servo drive Power(KW) Model:SMM - -*** AC380V 2.9 SMM18-3Y2R9-U1NH5 SD600A-T3-3R flange SMM18-3Y4R4-U1NH5 SD600A-T3-4R5 5.5 SMM18-3Y5R5-U1NH5 SD600A-T3-5R5 7.5 SMM18-3Y7R5-U1NH5 SD600A-T3-7R5 5

9 Model Selection 2.4 Cable model selection The Company provides the corresponding cables for the user to select. Please select according to the servo motor and servo drives specific model (Note: please select high-speed motion cable when the cable is mounted on towline and other sports occasions). ⑴ Motor power cable model specification MOTOR 02 - L03 - B4 N L Types MOTOR:Motor power cable Current Level 01: 4.5A 02: 8.7A 03: 14A 04:0 2A Cable length L03: Cable length3m L05: Cable length5m L10:Cable length10m Cable Type L:Ordinary cable H:High-speed motion cable Installation method N:Power line without brake line Motor side plug type B4:4PinPlastic plugs L4:4PinAir plugs P4:4PinLarge air plugs ⑵ Encoder signal cable model specification ENC A- L03 - BS L Types ENC:Encoder signal line Cable Type A:Non-line incremental encoder Cable length L03: Cable length3m L05: Cable length5m L10:Cable length10m Cable Type L:Ordinary cable H:High-speed motion cable Motor side plug type BS:15PinPlastic plugs LS:15PinAir plugs 6

10 Model Selection ⑶ Brake line model specification BRA - L03 - L L Types BRA:holding brake lines L:Ordinary cable Cable Type Cable length L03: Cable length3m L05: Cable length5m L10:Cable length10m Motor side plug type L: 2PinBrake plug(60/80flange) M: 3PinBrake plug(180flange) Note: only motor with holding brake need to choose this cable. Optional 130 flange motor holding brake lines please refer to the servo system selection table. ⑷ CN1 terminal line model specification MUL - L01 SS Types MUL: CN1Multiport line Cable length L01:Cable length1m L02:Cable length2m Plug type SS: Single-end plug SD:Double end plug+tf51bconverter board NOTE: MUL- -SD type CN1 port line is adaptable with the company's TF51B type adapter board, and please select the model together with the adapter plate. ⑸ Communication cable model specification COM - L03 - PCN Types COM: Communication lines Communication type PCN: RS485/CAN Cable length L03:Cable length3m ⑹ Servo system configuration and cable configuration list(see in next page) 7

11 Model Selection Servo system(220v) Model Servo drive Servo motor Supporting cable Rated current (A) SD600A-S2-R Power (W) Motor model Torque (N m) Rated current(a) Rated speed Motor power cable Motor encoder cable Motor brake cable 100 SMM06-2TR10-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL 200 SMM06-2TR20-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL SD600A-S2-R SMM06-2TR40-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL SD600A-S2-R SMM08-2TR75-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL SD600A-T2-R SMM06-2TR60-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL 750 SMM08-2TR75-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL SMM08-2T1R0-U1NL MOTOR01-1-B4N2 ENCA-1-BS2 BRA-1-LL SD600A-T2-1R SMM13-2U1R0-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 SMM13-2L1R0-U1NH MOTOR02-1-L4N2 ENCA-1-LS SMM13-2U1R3-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 SMM11-2S1R2-U1NH MOTOR02-1-L4N2 ENCA-1-LS SMM11-2T1R2-U1NH MOTOR02-1-L4N2 ENCA-1-LS SMM11-2T1R8-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 SMM11-2T1R5-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 MOTOR02-1-L 4B2(including power line) BRA-1-ML SD600A-T2-1R SMM13-2U1R5-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 MOTOR02-1-L 4B2(including SMM13-2Y1R5-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 power line) 2000 SMM13-2U2R0-U1NH MOTOR02-1-L4N2 ENCA-1-LS2 8

12 Model Selection SD600A-T2-2R SMM13-2Y2R3-U1NH MOTOR03-1-L4N2 ENCA-1-LS2 MOTOR03-1-L 2600 SMM13-2U2R6-U1NH MOTOR03-1-L4N2 ENCA-1-LS2 SD600A-T2-3R SMM13-2U3R8-U1NH MOTOR03-1-L4N2 ENCA-1-LS2 Servo system (380V) Model Servo drive Servo motor Supporting cable Rated current (A) Power (W) Motor model Torque (N m) Rated current(a) 9 Rated speed Motor power cable SD600A-T3-3R SMM18-3Y2R9-U1NH MOTOR03-1-P4N2 SD600A-T3-4R SMM18-3Y4R4-U1NH MOTOR03-1-P4N2 SD600A-T3-5R SMM18-3Y5R5-U1NH MOTOR03-1-P4N2 SD600A-T3-7R SMM18-3Y7R5-U1NH MOTOR04-1-P4N2 Motor encoder cable ENCA-1-LS2 4B2(including power line) Motor brake cable BRA-1-ML Note: 1, Users need to select the right supporting cable models based on the selected moter type for servo motor power line and servo motor encoder cable. 2, There re ordinary line and high-speed motion line for the motor power line and encoder signal lines, please use the high-speed motion cable for conditions when motor follows the load, such as screw, etc. 3, the above type are non-energized motor brakes, brake required or may otherwise indicated in the above-mentioned motor type SMM - - N of N is changed to B. 4,130 flange brake motors namely: SMM13- -U1BH5, the series motor adapts to brake cable MOTOR -1-L4B2 (included power lines), do not need to purchase power cables. 5, "1" indicates the cable length in the table, namely L03 (3m), L05 (5m), L10 (10 meters) of cable length the special requirements can be customized according to requirements. "2" indicates the cable types in the table, namely L (general cable), H (high-speed motion cable).

13 2.5 Peripherals Braking resistance Single phase 220V Single phase/three phase 220V Three phase 380V Servo drive model Built-in renewable resistance Resistance (Ω) specification Capacity(W) Model Selection Minimum resistance allowed(ω) SD600A-S2-R SD600A-S2-R SD600A-S2-R SD600A-T2-R SD600A- T2-1R SD600A- T2-1R SD600A- T2-2R SD600A- T2-3R SD600A- T3-3R0 SD600A- T3-4R5 SD600A- T3-5R SD600A- T3-7R

14 Servo Motor Specification and Dimension Chapter 3 Servo Motor Specification and Dimension 3.1 Servo motor standard specification(smm series) Rated time: Continuous Insulation class: F Cooling method: totally enclosed, self-cooling Protection class: IP65, IP54 shaft Excitation method: permanent magnet Installation: Flange Connection: Direct connection Using environment: Keep away from corrosive, flammable gas, oil droplets, dust. Applicable environmental characteristics: 5 ~ 40 in altitude does not exceed 1000m, under normal atmospheric conditions meet the rated output of the motor. Temperature characteristics: less than RH95%, no condensation Power consumption: at 40 ~ 50 conditions, altitude of over 1000m, each additional 100m, a power reduction of 1.5% Lost power brakes (optional): when there s no excitation or there s a sudden power off, the loss power brakes start to work and the motor shaft does not rotate, avoiding equipment damage or personal injury. When the motor works properly, the loss power brakes remain free state. Bearing Features: All servo motors are imported, single-sided dust ball, ball bearings, high temperature grease, of which the life term under normal load conditions is not less than 20,000 hours. Small inertia(voltage 220V,rated speed 3000rpm) Servo motor model SMM -2 -U1NL5 06-2T R T R T R T R T R T 1R0 Rated output KW Rated voltage V Rated torque N m Instant maximum torque N m Rated current Arms Instant maximum current Arms Rated speed Rpm Instant maximum speed Rpm Back EMF constant mv/rpm Torque constant N m/arms Electrical time constant ms Mechanical time constant ms Rotor rotating inertia 10-4 kg m

15 Servo Motor Specification and Dimension Medium inertia(voltage 220V,rated speed 3000/2000rpm) Servo motor model SMM11-2 -U1NH 11-2S 1R2 11-2T 1R2 11-2T Rated output KW Rated voltage V Rated torque N m Instant maximum torque N m Rated current Arms Instant maximum current Arms R5 11-2T Rated speed Rpm Instant maximum speed Rpm Back EMF constant mv/rpm Torque constant N m/arms Electrical time constant ms Mechanical time constant ms Rotor rotating inertia 10-4 kg m Medium inertia(voltage 220V,rated speed 2500rpm) Servo motor model SMM13-2 -U1NH5 13-2U 1R0 13-2U 1R3 13-2U 1R5 13-2U 2R0 13-2U 2R6 Rated output KW Rated voltage V Rated torque N m Instant maximum torque N m Rated current Arms R8 13-2U 3R8 Instant maximum current Arms Rated speed Rpm Instant maximum speed Rpm Back EMF constant mv/rpm Torque constant N m/arms Electrical time constant ms Mechanical time constant ms Rotor rotating inertia 10-4 kg m

16 Servo Motor Specification and Dimension Large inertia(voltage 220V/380V,rated speed 1500/1000rpm) Servo motor model SMM - -U1NH5 13-2L 1R0 13-2Y 1R5 13-2Y 2R3 18-3Y 2R9 18-3Y 4R4 18-3Y 5R5 18-3Y 7R5 Rated output KW Rated voltage V Rated torque N m Instant maximum torque N m Rated current Arms Instant maximum current Arms Rated speed Rpm Instant maximum speed Rpm Back EMF constant mv/rpm Torque constant N m/arms Electrical time constant ms Mechanical time constant ms Rotor rotating inertia 10-4 g m Servo motor dimension checklist SMM06- -U1NL5 installation dimension Servo motor power Motor model Length L(no brakes) L(with brakes) 100W SMM06-2TR10-U1NL W SMM06-2TR20-U1NL W SMM06-2TR40-U1NL W SMM06-2TR60-U1NL

17 Servo Motor Specification and Dimension SMM08- -U1NL5 installation dimension Servo motor Motor model Length L(no brakes) L(with brakes) 750W SMM08-2TR75-U1NL W SMM08-2T1R0-U1NL SMM11- -U1NH installation dimension Servo motor Motor model Length L(no brakes) L(with brakes) 1200W SMM11-2T1R2-U1NH W SMM11-2S1R2-U1NH W SMM11-2T1R5-U1NH W SMM11-2T1R8-U1NH

18 Servo Motor Specification and Dimension SMM13- -U1NH5 installation dimension Servo motor Motor model Length L(no brakes) L(with brakes) 1000W SMM13-2U1R0-U1NH W SMM13-2L1R0-U1NH W SMM13-2U1R3-U1NH W SMM13-2U1R5-U1NH W SMM13-2Y1R5-U1NH W SMM13-2U2R0-U1NH W SMM13-2Y2R3-U1NH W SMM13-2U2R6-U1NH W SMM13-2U3R8-U1NH SMM18-3 -U1NH5 installation dimension Servo motor Motor model Length L(no brakes) L(with brakes) 2900W SMM18-3Y2R9-U1NH W SMM18-3Y4R4-U1NH W SMM18-3Y5R5-U1NH W SMM18-3Y7R5-U1NH

19 Servo Drive Specification and Dimension Chapter 4 Servo Drive Specification and Dimension 4.1 Servo drive standard specification Caution If using servo drive when input power exceeds the norm, it may lead to alarm. When the power supply voltage does not meet the following values, be sure to use step-down transformer to control the power supply voltage within specified range Single/three phase 220V level servo drive Structure size SIZE-A SIZE-B SIZE-C SD600A-S2- SD600A-T2- SD600A-T2- Drive model R20 R40 R75 R75 1R0 1R5 2R2 3R0 Continuous output current (Arms) Maximum output current (Arms) Main circuit power supply Control circuit power supply Brake hangling function Single phase 220VAC±15% 50/60Hz±5% Three phase 380V level servo drive Structure size Drive model Single/three phase 220VAC±15% 50/60Hz±5% Three phase 220VAC±15% 50/60Hz±5% Built-in resistance, external resistance can be used when the braking capacity is not enough SIZE-C SD600A-T3-3R0 4R5 5R5 7R5 Continuous output current (Arms) Maximum output current (Arms) Main circuit power supply Control circuit power supply Brake hangling function Three phase 380VAC±15%, 50/60Hz±5% Built-in resistance, external resistance can be used when the braking capacity is not enough Servo drive general rated value and specification Pow er Power range(kw) Phase/voltage Allowed voltage variation range Allowed frequency variation range Single phase 220VAC Single/three phase 220VAC Three phase 220VAC Three phase 380VAC 220VAC±15% 220VAC±15% 380VAC±15% 50/60Hz±5% Cooling methods Natural cooling Fan cooling Encoder lines Control mode 2500p/r(incremental wireless/no wireless) Speed control, position control, torque control, speed / position control, torque / speed control, position / torque control, jog control 16

20 Servo Drive Specification and Dimension Operation panel 5 press button, LED 5 bits Renewable braking resistance Maximum input pulse frequency Pulse command mode Positio n control mode Speed control mode Torque control Command control mode Command smooth mode Electronic gear ratio Torque limit Feedforward compensation Analog speed command input Speed control range Command control mode Command smooth mode Torque limit Built-in resistance, external resistance can be used when the braking capacity is not enough Differential input mode: 500KHZ Collector input mode: maximum 200KHZ Pulse+symbol, A, B phase quadrature pulse, CW+CCW pulse External pulse instruction/internal register instruction First-order low-pass filter, S type curve smoothing filter Electronic gear ratio: A/B (1/50<A/B<200) A: 1~32767, B: 1~32767 External analog or internal register Parameter setting Voltage range:0~±10v, input impedance:10kω;time parameter:2.2μs 1:5000 External analog/internal register First-order low-pass filter, S type curve smoothing filter External analog or internal register Frequency Maximum 400Hz width Speed Instantaneous load percentage change (0 to 100%), speed variation rate±0.01%; input variation rate voltage fluctuation ± 10%, speed variation rate±0.01%; external ambient temperature note 1 variation (0 ~ 50 ), speed variation rate± 0.01% Analog command Voltage range 0~±10V;input impedance10kω;time parameter 2.2μs input Command control mode Command smooth mode Digital value input/output Protection function Alarm query Communication interface Enviro nment specifi Installation place Elevation External analog/internal register Low-pass filter It can be arbitrarily assigned via the function parameter into common nine digital inputs, six digital outputs Overvoltage, undervoltage, overcurrent, overheating, over speed, overload, encoder failure, the position error is too large, Eeprom failure Record fault code, speed, voltage, current, time when alarming RS485 (standard), CAN (optional) Indoor (avoid direct sunlight), non-corrosive mist (to avoid fumes, flammable gas and dust) <1000m, (>1000m, pleaes derate when using) 17

21 Servo Drive Specification and Dimension cation Environment temperature 2 Storage temperature Storage humidity 0~55 (if environment temperature exceeds specification range, please adjust the surrounding air circulation) -20~65 <0~90%RH (no condensation) Note 1:speed variation rate is defined by: speed variation rate = no load speed - 100%load speed 100% rated speed In fact, the voltage and temperature changes will cause the operation amplifier bias, leading to changes in the resistance value calculation. Thus, the impact will be manifested through the speed; speed change can be represented according to the rated speed ratio. Note 2: Please install the servo drive within a certain temperature range. If stored in electric cabinet, the electrical cabinet temperature should not exceed this temperature. 4.2 Servo drive overload protection features There s built-in protection function in servo drive and the drive can be protected when the servo motor and servo drive overload. Therefore, the servo drive allowable power-on time is restricted due to the built-in overload protection function; as shown in the following figure. 18

22 Servo Drive Specification and Dimension 4.3 Servo drive dimension size list (1) Size A Dimensions 56 Installation dimensions (2)Size B (3)Size C Dimensions Installation dimensions Dimensions Installation dimensions 19

23 V U W PE V U W PE V U W PE SD600A Series AC Servo System Manual Cable Specification and Dimension Chapter 5 Cable Specification and Dimension 5.1 Servo motor power cable (1)MOTOR - -B4N L A direction White 2/blue White 1/brown White 3/black Green yellow A view view B Signal A Needle foot number Color U 2 White 1/brown V 1 White 2/blue W 3 White 3/black PE 4 Green yellow (2)MOTOR - -L4N L White 2/blue White 1/brown White 3/black Yellow green view B A view A direction (3)MOTOR - -P4N L White 2/blue White 1/brown White 3/black Yellow green view B A view A direction (2) (3) cable wiring are defined as follows: Signal A Needle foot number Color U 3 White 1/brown V 2 White 2/blue W 4 White 3/black PE 1 Yellow green 20

24 SD600A Series AC Servo System Manual Cable Specification and Dimension 5.2 Servo motor encoder cable (1)ENCA- -BS A direction view B A direction (2)ENCA- -LS Signal A Needle B Needle A Needle B Needle foot Signal foot number foot number foot number number +5V 15 2 U V 14 3 U- 4 8 A+ 6 9 V A V B+ 7 4 W B W Z+ 8 7 PE Internal steel cover 1 Z view B 11 view B A direction A direction Signal A Needle foot number B Needle foot number Signal B direction A Needle foot number B Needle foot number +5V 15 2 U V 14 3 U A+ 6 4 V A- 1 7 V B+ 7 5 W B- 2 8 W Z+ 8 6 PE Internal steel cover 1 Z

25 Cable Specification and Dimension 5.3 Servo motor brake cable (1) BRA -LL 1 A direction BROWN Blue A view (2) BRA -ML 1 2 A direction BROWN Blue A view The cables above are defined as follows: Signal A Needle foot number Color + 1 Brown - 2 Blue (3) MOTOR - -L4B 3 6 U V W PE + - Brown(4 core) Blue(4 core) Black(4core) Yellow green(4 core) Brown(2 core) Blue(2 core) A view A direction Signal A Needle foot number Color Signal A Needle foot number Color PE 1 Yellow green(4 core) W 4 Black (4 core) U 2 Brown(4 core) + 6 Brown(2 core) V 3 Blue(4 core) - 7 Blue(2 core) 5.4 Servo drive input/output cable Servo drive input/output cable outline drawing (1) MUL -SS 31 1 A direction A direction

26 Cable Specification and Dimension (2) MUL -SD 31 1 A direction A direction Note:MUL -SD cable adaptable to the TF51B switch board, please select the model accordingly. (3) TF51B PA /PA PB /PB PZ /PZ /PULSE PULSE SIGN /SIGN PL1 OCZ AI1 AI2 GND GND 保留保留 X1 X2 X3 X4 X5 X6 X7 X8 X9 PLC-X +24V +24V COM COM A+ B- 保留保留 Y1+ Y1- Y2+ Y2- Y3+ Y3- Y4+ Y4- Y5+ Y5- Y6+ Y6- COM B+ PE PE PE Servo drive input/output cable wiring diagram Needle Signal Stranded wire N Signal Stranded wire specification 1 Y4+ 41 /PULSE 1 26 Y4-43 PULSE 2 Y3-40 Reserved 1 3 Y3+ 42 Reserved 4 Y2-14 COM 1 5 Y V 6 Y1-18 AI2 1 7 Y1+ 19 GND 13 PZ 8 X /PZ 9 X1 15 Y6-10 X Y6+ 11 PLC-X 21 PA 29 GND 1 22 /PA 20 AI1 23 /PB 12 X PB 30 X8 27 Y5-31 X Y5+ 32 X6 23 A

27 36 Reserved 33 X Reserved 34 X3 37 /SIGN 35 PL SIGN 44 OCZ Cable Specification and Dimension Servo drive communication cable Servo drive communication cable outline drawing A (COM-L03-PCN) P Male B view B Servo drive communication cable wiring diagram A terminal B terminal Signal name Needle foot number Signal name Color CANH 1 CANH Yellow CANL 2 CANL White RS A+ Red RS485-6 B- Black 24

28 Wiring Chapter 6 Wiring This chapter explains the significance of the wiring method and the meaning of servo drive signals, and lists standard wiring diagrams of various modes. 6.1 Main circuit wire This section describes the name, specifications, wiring examples and power ON sequence of the main circuit terminals. main circuit terminal Main circuit terminal name and specification Mark Name Specification Connecting single-phase / three-phase AC power supply L1, L2, L3 Main circuit power (depending on product model, select the appropriate voltage source input terminal specifications, single-phase 220V L1 and L2 can be connected only) L1C, L2C Control power source Connect single phase AC power source( select suitable voltage input terminal specification according to product model) Use the internal regeneration resistance terminal, short between P, D, C P / D, but P / C open), when there is insufficient braking Retrogradation capability, open set P / D circuit and connect an external resistance terminal regenerative resistor between P/C. External regenerative resistor must be purchased separately. U, V, W Motor connnecting wire Connect to the motor according to the sequence. Earth protecting terminal Connect the power supply ground terminal and the motor ground terminal. 25

29 Wiring Caution When there s still high voltage in servo drive after turning off the power, do not touch the power terminals within five minutes, and operation can be carried out after the user confirm the CHARGE lamp, otherwise there is danger of electric shock; Prohibit frequent power on/off, and when repeatedly switch voltage is needed, please control in less than 1 time within 1 minute Please do not connect the input power cable to the servo drive output terminals UVW, otherwise it will cause damage to the servo drive; L1, L2, L3 (L1C, L2C) and U, V, W the six power lines should not be close to other signal lines, spacing more than 30cm (11.8 inches), otherwise it may cause servo system malfunction. When using the internal braking resistor, shorting must be connected between P and D terminals, otherwise it may cause a fire; do not connect the wires directly to between P and C; servo drive servo motor U U V V M W W servo drive servo motor U V W U V W M ~ 26

30 Wiring There may be abnormal signal due to cable fatigue, particularly in the case of towline machine appears in the process of using the servo system. Please use the flexible cable in moving occasion Main circuit power supply connector(spring-type) wiring method Spring-type connector terminal is used for 1.5KW and less power servo drives. 200W~400W 750W~1.5KW The detailed description of the spring-type terminal wiring step (1)Wire Size Wire size that can be used as follows: Single line:φ0.5~φ1.6mm (2)Connection methods 1,Remove terminal platform from the servo drive 27

31 NOTESD600A Series AC Servo System Manual Wiring Before wiring, remove the wiring terminals from the servo drive.if you do not remove the terminals and wire directly may cause damage to the servo drive. 2, Wire stripping Strip the wire cover 8~9mm. 3. Open the wiring insertion slot of the wiring terminal There are two methods of openning the wire insertion slot, as shown below: Open the slot by the control lever of the servo drives (see Figure A) below; insert a screwdriver into an opening port in the terminals (terminal width 3.0 ~ 3.5mm), and then press firmly to open the slot (as shown in Figure B). Diagram A Diagram B 4, Insert the wire into the slot After opening the slot, insert the stripped end of the wire, then release the control lever or screwdriver so that the slot can be closed. 5, Reset the wiring terminals onto the servo drive After connecting all the terminals, put the wiring terminals back to their original position on the servo drive. 1. Do not turn on the power when wiring; 2. When inserting wires, do not short-circuit the adjacent wires. 3. The stripped wire ends should be covered tightly to ensure that no wire is exposed after inserting the terminals. 28

32 Wiring Typical main circuit wiring cases The company's servo drive power connections can be divided into single-phase 220V, three-phase 220V and three phase 380V. Single-phase 220V is only allowed for models with 1.5Kw or less. (1)Single phase 220V QF L N AC servo drive SD600A FLT KM L1 L2 U V W M L1C L2C ENC servo power source ON RY servo power source OFF alarm display KM P D C WAR COM RY +24V 0V KM RY SA QF: Wiring Breaker KM: AC contactor (maincircuit power supply) FLT: noise filter SA: Surge Suppressors RY: Relay 29

33 Wiring (2)Three phase 220V QF R S T AC servo drive SD600A FLT KM L1 L2 L3 L1C L2C U V W M ENC servo power source ON RY servo power source OFF alarm display KM P D C WAR COM RY +24V 0V KM RY SA QF: Wiring Breaker KM: AC contactor (maincircuit power supply) FLT: noise filter SA: Surge Suppressors RY: Relay (3)Three phase 380V R S T QF AC servo drive SD600A FLT KM L1 L2 L3 L1C L2C U V W M ENC servo power source ON RY servo power source OFF alarm display KM P D C WAR COM RY +24V 0V KM RY SA QF: Wiring Breaker KM: AC contactor (maincircuit power supply) FLT: noise filter SA: Surge Suppressors RY: Relay 30

34 Wiring (4)Multi servo drive wiring R S T QF Servo drives FLT KM RY Relay terminal Alarm display Relay terminal L1 L2 L3 L1C L2C P D C U V W WAR COM M ENC RY +24V 0V Servo power On Servo power Off KM RY KM SA Servo drives U V L1 W L2 L3 L1C L2C P D C WAR COM M ENC RY +24V 0V Servo drives L1 L2 L3 L1C L2C P D C U V W WAR COM M ENC RY +24V 0V 6.2 CN1 input/output(io)signal wiring Is more convenient with the host controller used in conjunction with the company's servo drives offer can plan and six of the nine input-output. The controller provides the function code parameter input setting nine and six output settings and parameters of Pr6.02 ~ Pr6.10 Pr6.22 ~ Pr6.27, in addition, it also provides encoder feedback signal differential output signals A +, A-, B +, B-, Z +, Z-, open collector output signal OCZ and analog input signal AI1, AI2. The pin is as follows: 31

35 Wiring Servo drive terminal 44PIN terminal pins front view 15 Y6- COM PZ X9 PLC-X X2 X1 X4 Y1+ Y1- Y2+ Y2- Y3+ Y3- Y X8 GND Y5+ Y5- Y4- PB /PZ /PB /PA PA AI1 GND AI2 +24V Y6+ 44 OCZ PLUSE 保留 /PLUSE 保留 SIGN 保留 /SIGN 保留 PL1 X3 X5 X6 X Y4+ Digit output 2 Y3- Digit output 3 Y3+ Digit output 4 Y2- Digit output 5 Y2+ Digit output 6 Y1- Digit output 7 Y1+ Digit output 8 X4 Digit input 9 X1 Digit input 10 X2 Digit input 11 PLC-X Digital output terminal Signal name X public bias selection terminal 12 X9 Digit input 13 PZ 14 COM Encoder Z phase output +24V power source place 15 Y6- Digit output 16 Y6+ Digit output V +24V output 18 AI2 Digit input 2 19 GND Analog signal place 20 AI1 Digit input 1 21 PA 22 /PA 23 /PB 24 /PZ 25 PB Encoder A phase Signal name and function of CN1 connector Needle foot No. Default function X1 9 SON Servo enables X2 10 ALRS Alarm reset 32 output Encoder /A phase output Encoder /B phase output Encoder /Z phase output Encoder /B phase output 26 Y4- Digit output 27 Y5- Digit output 28 Y5+ Digit output 29 GND Analog signal place 30 X8 Digit input 31 X7 Digit input 32 X6 Digit input 33 X5 Digit input 34 X3 Digit input 35 PL1 36 Reserved 37 /SIGN 38 Reserved 39 SIGN 40 Reserved 41 /PULSE 42 Reserved 43 PULSE 44 OCZ Specification X3 34 PCLR Position control pulse bias counter clear X4 8 SPDINV Speed instruction direction selection Instruction pulse public terminal Position instruction pulse(-) Position instruction pulse(-) Position instruction pulse(-) Position instruction pulse(+) Z phase open collector output

36 Wiring Programmable digital output terminal Signal name X5 33 CMD1 Internal instruction bit0 X6 32 CMD2 Internal instruction bit1 X7 31 CMD3 Internal instruction bit2 X8 30 CMD4 Internal instruction bit3 X9 12 PCTRG Internal position instructin trigering PLC-X 11 X1~X9 public bias selection terminal Needle foot No. Y1+ 7 Y1-6 Y2+ 5 Y2-4 Y3+ 3 Y3-2 Y4+ 1 Y4-26 Y5+ 28 Y5-27 Y6-15 Y6+ 16 Default function SRDY BRKR TGON ZS V_Near ALM Servo is ready Specification Magnetic brake output signal Motor rotary output signal Zero speed signal Speed accessing signal Fault output signal Signal name Position instruction input terminal Analog input terminal Encoder output signal Power source Needle foot No. PULSE 43 Pulse mode: 1.pulse+direction /PULSE 41 2.AB phase quadrature SIGN 39 pulse 3.CW+CCW pulse /SIGN 37 Pulse signal: PL differentialinput 2.open collector input 33 Specification AI1 20 Analog input signal, input range: 0~±10V AI2 18 Analog input signal, input range: 0~±10V GND 19,29 Analog signal place PA 21 Encoder A phase output(differential signal) /PA 22 PB 25 /PB 23 PZ 13 /PZ 24 Encoder B phase output(differential signal) Encoder Z phase output(differential signal) OCZ 44 Encoder Z phase open collector output signal +24V 17 COM 14 According to the actual needs of the user, select the differential input connection, open collector connection. Connection information, refer in this chapter: page 36 to input and output signals (CN1) interface circuit Internal 24V power source for external use(com place)

37 Wiring CN1 input/output(io) connecting cases (1) Position control mode QF Breaker R S T 6RY Fault display Noise Filter FLT Servo Power On Servo Power Off KM 6RY KM SA Surge Suppressors PD shorting choose built-in braking resistor; built-in brake inadequate, PD disconnects, PC connected to external braking resistor KM AC contactor L1 L2 L3 L1C L2C P D C AC servo drive SD600A U V W M ENC PA /PA Servo motor Encoder A-phase } differential output Analog input channelsai1 0 ±10V ~ D/A } A/D PB /PB PZ /PZ } } Encoder B-phase differential output Encoder Z-phase differential output Position command pulse Position command pulse PULSE SIGN Note: The pulse input wiring diagram above is 5V system input, please check pulse input wiring diagram for 24V system input. +24V PLC-X Servo enable SON X1 9 Alarm reset ALRS Position control pulse deviation PCLR Control mode switching MSEL Internal instruction bit 0 CMD1 Internal instruction bit 1 CMD2 Internal instruction bit 2 CMD3 Internal instruction bit 3 CMD4 Internal position PCTRG command trigger PULSE /PULSE SIGN /SIGN X2 X3 X4 X5 X6 X7 X8 X9 COM V 44 OCZ 29 GND 7 Y1+ 6 Y1-5 Y2+ 4 Y2-3 2 Y3+ Y3-14 COM V 1 Y4+ 26 Y4-28 Y5+ 27 Y5-15 Y6+ 16 Y6-1RY 2RY 3RY 4RY 5RY 6RY Encoder Z-phase } open-collector output SRDY Servo ready BRKR Electromagnetic brake signal TGON Motor rotation signal ZS Zero speed signal V_Near Speeds close ALM Fault output signal Note: represents twisted pair 34

38 Wiring (2) Speed control mode QF Breaker R S T 6RY Fault display Noise Filter FLT Servo Power On KM 6RY Servo Power Off KM SA Surge Suppressors KM AC contactor L1 L2 L3 L1C L2C AC servo drive SD600A U V W M Servo motor PD shorting choose built-in braking resistor; built-in brake inadequate, PD disconnects, PC connected to external braking resistor Analog input channelsai1 0 ±10V ~ Analog input channelsai2 0 ±10V ~ D/A D/A P D C } A/D } A/D ENC PA /PA PB /PB PZ /PZ 44 OCZ 29 GND } } } } Encoder A-phase differential output Encoder B-phase differential output Encoder Z-phase differential output Encoder Z-phase open-collector output +24V PLC-X V 7 Y1+ 6 Y1-1RY SRDY Servo ready Servo enable SON X1 9 Alarm reset ALRS X2 10 Speed command direction selection SPDINV Internal instruction bit 0 CMD1 Internal instruction bit 1 CMD2 Internal instruction bit 2 CMD3 Internal instruction bit 3 CMD4 X3 X4 X5 X6 X7 X8 X Y2+ 4 Y2-3 2 Y3+ Y3-14 COM V 1 Y4+ 26 Y4-28 Y5+ 27 Y5-2RY 3RY 4RY 5RY BRKR Electromagnetic brake signal TGON Motor rotation signal ZS Zero speed signal V_Near Speeds close COM Y6+ 16 Y6-6RY ALM Fault output signal Note: represents twisted pair 35

39 Wiring (3) Torque control mode QF Breaker R S T 6RY Fault display Noise Filter FLT Servo Power On KM Servo Power Off KM 6RY SA Surge Suppressors KM AC contactor L1 L2 L3 L1C L2C AC servo drive SD600A U V W M Servo motor PD shorting choose built-in braking resistor; built-in brake inadequate, PD disconnects, PC connected to external braking resistor Analog input channelsai1 0 ±10V ~ D/A P D C } A/D ENC PA /PA PB /PB PZ /PZ } } } Encoder A-phase differential output Encoder B-phase differential output Encoder Z-phase differential output Analog input channelsai2 0 ±10V ~ D/A } A/D 44 OCZ 29 GND } Encoder Z-phase open-collector output +24V PLC-X V 7 Y1+ 6 Y1-1RY SRDY Servo ready Servo enable SON X1 9 Alarm reset ALRS X2 10 Torque command direction switching TRQINV X3 34 (Note: Pr6.04 set to 25) X4 8 Internal instruction bit 0 CMD1 Internal instruction bit 1 CMD2 Internal instruction bit 2 CMD3 Internal instruction bit 3 CMD4 X5 X6 X7 X8 X Y2+ 4 Y2-3 2 Y3+ Y3-14 COM V 1 Y4+ 26 Y4-28 Y5+ 27 Y5-2RY 3RY 4RY 5RY BRKR Electromagnetic brake signal TGON Motor rotation signal ZS Zero speed signal V_Near Speeds close COM Y6+ 16 Y6-6RY ALM Fault output signal Note: represents twisted pair 36

40 Wiring Input/output signal (CN1) interface circuit Servo drive input and output signals and the host device connection examples are shown below. (1) Digital value input circuit The following figures are the discription of nine digital value input terminal of CN1 connector. The company provides a total of nine X terminal for users, wherein each X port is available for users planning to use. Digital input terminal has anti-reverse insertion function. Work principle is shown below, the two connection methods of all the digital input terminals are valid. a, connection 1 (PLC-X connect positive power supply) Using internal 24V power supply using external 24V power supply +24V 17 servo drive PLC-X 11 servo drive PLC-X X V X1 9 X2 10 X2 10 COM 14 COM b, Conneccting method 2(PLC-X connect negative power supply) Using internal 24V power supply using external 24V power supply COM PLC-X X COM servo drive - + PLC-X 24V X servo drive X2 10 X V 17 37

41 NOTESD600A Series AC Servo System Manual Wiring c, connection with the host device example When the host device is a relay output: Using internal 24V power supply using external 24V power supply PLC Y1 +24V PLC-X X servo drive PLC Y1 24V PLC-X + - X servo drive COM 14 COM COM When the host device is an open collector output (sink output): Using internal 24V power supply using external 24V power supply PLC Y1 COM PLC-X X servo drive COM PLC Y1 24V PLC-X - + X servo drive COM +24V 17 COM The host device is an open collector output (Source output): Using internal 24V power supply using external 24V power supply PLC 24V 17 servo drive PLC PLX 11 servo drive PLX 11 24V + - Y1 X1 9 Y1 X1 9 COM COM 14 COM When using external power, make sure the voltage <30V; otherwise it may damage the servo driver optocoupler. 38

42 NOT3, Y1 ~ Y6 allowable current <50mA. ESD600A Series AC Servo System Manual Wiring (2) Digital output circuit The following figures are the discription of Y1~Y6 six digital value input terminal of CN1 connector. The company provides a total of six-way Y terminals for users planning to use and all of them are non-polar output: Y1 ~ Y6 principle diagram are shown as follows: R 7 6 Y1+ Y1- When the host device is a relay input: Using internal 24V power supply using external 24V power supply servo drive V Y1+ relay servo drive R 7 6 Y1+ Y1- relay 24V R Y1- COM 14 When the host device is a optocoupler input: Using internal 24V power supply using external 24V power supply servo drive 17 7 R 6 +24V Y1+ M X1 PLC servo drive +24V R Y1-7 Y1+ 6 Y1- M X1 PLC COM 14 Note 1: regardless of polarity of Y1 + and Y1-, Y2 ~ Y6 connection method are the same as above. 1, when using an external power, make sure the voltage <30V; 2, when Y1 ~ Y6 driving inductive loads,please install diode; 39

43 NOTESD600A Series AC Servo System Manual Wiring (3) Analog input circuit The servo drive of the company provides two analog input circuits. AI1 and AI2 analog channels are bipolar input, analog input voltage range: 0 ~ ± 10V, input impedance 10K. The input circuit is shown as follows: Servo drive Servo drive +10V +10V 20 AI2 18 AI2 19 GND 19 GND -10V -10V (4) Position command input circuit The following figures are the discription of the position command pulse input associated pin terminals (43,41,39,37,35) of CN1 connector. The company's servo drives provide pulse command input (43,41) and pulse instruction symbol input (39, 37) terminal that can receive differential drive output signal and open collector output signals. For more information please refer to the function code Pr2.01 (External pulse command input form selection). According to the actual application requirements, correct wiring, wiring diagram is shown as follows: Connection method 1: differential mode (5V voltage input) Host device CN1 Host device PULS(A) PULS 43 47Ω /PULS 41 47Ω SIGN(B) SIGN 39 47Ω /SIGN 37 47Ω PE PE Differential pulse input signal voltage ± 5V, the maximum frequency: 500kHz; Differential pulse signal has the best noise immunity, it is recommended to use the mode in priority. 1, the circuit is 5V system, do not directly access 24V power supply; 2, please ensure that the differential signal current range is within 8 ~ 10mA, if it can not meet the formula, the servo drive input pulse is unstable, the following conditions may occur: a If input voltage position command pulse, pulse lost; b if input position command direction, position command negated phenomenon. 40

44 Wiring Connection 2: Open collector (24V input voltage) a. Control module is NPN model (common cathode) Shielded wire The controller module side 1k 47Ω PULS(A) /PULSE 41 1k 47Ω PL1 35 SIGN(B) 24V + Power supply - /SIGN 37 1k 1k 47Ω 47Ω FG b. Control module is PNP model (common anode) Servo drive side Shielded wire The controller module side PULSE 43 47Ω PULS(A) 1k 1k 47Ω SIGN 39 SIGN(B) + 24V Power supply - PL1 35 FG 1k 1k 47Ω 47Ω Maximum pulse input frequency of open collector is 200kHz;As shown above using an external 24V power supply, no external current limiting resistor needed. Generally Japanese PLC (such as Mitsubishi, Panasonic, Omron, etc.) Mostly NPN type, European-based PLC (such as Siemens, etc.) and the PNP in majority; 41

45 NOTESD600A Series AC Servo System Manual Wiring (5)Encoder signal output circuit Here are the specification of CN1 connector pins (Encoder A output), (encoder B output), (encoder Z output) terminals. Encoder output circuit outputs differential signal through differential driver and at which time the host device constitutes a closed-loop position control, providing a feedback signal. The host device requires the use of a differential receiving circuit to receive signals. The circuit is shown as below: Servo drive Host device A PA /PA B PB /PB Z PZ /PZ 1 encoder differential signal output terminal, maximum allowable output current is 20mA. In addition, CN1 pin 44 (encoder Z open collector output), at which time the host device constitutes a closed-loop position control, providing a feedback signal. The host device requires the use of optocoupler and relay circuit to receive. The circuit is shown as below: Servo drive OCZ GND Note: encoder Z signal footnote function can not be distributed. Users do the wiring operation based on the actual condition. NOTE1 encoder Z signal open collector output port, maximum allowable output range: 30V,100mA 42

46 Wiring 6.3 CN2 encoder signal wiring Servo drive terminal 15PIN terminal Footnot Mark Content Footnot Mark Content Footnote Mark Content 1 PGA- A- 6 PGA+ A+ 11 PGW+ W+ 2 PGB- B- 7 PGB+ B+ 12 PGW- W- 3 PGZ+ Z- 8 PGZ+ Z PGU- U- 9 PGU+ U+ 14 0V 0V 5 PGV- V- 10 PGV+ V V +5V 6.4 CN3 communication port signal wiring The servo drive can be connected via the communication cable with the computer, and users can use the software provided by the company to make changes to the servo drive parameters. At the same time, users can connect the servo drive with the touch screen and the configuration software to moniter and operate the servo drive. We offer two interfaces: (1) CAN; (2) RS-485;Supporting multiple drive simultaneously connecting communication CN3 communication terminal pin definition Pin No Terminal Function specification 1 CANH Servo drives differential data transfer +terminal(can) 2 CANL Servo drives differential data transfer - terminal(can) 3 CANG CAN signal worksite 4 NC Reserved 5 A+ Servo drives differential data transfer + terminal(rs-485) 6 B- Servo drives differential data transfer - terminal(rs-485) 43

47 Panel Display and Opertation 7.1 Panel name Chapter 7 Panel Display and Operation Name LED display Power light MODE key Shift key UP key Down key SET key Function Five group seven-segment display monitor for displaying the mpnitor value, parameter values and setting value Charging display of the main power circuit capacity Enter parameter mode or out of parameter mode and setting mode Group mode code can be varied in parameter mode. In setting mode left moving of blinking character can be used to modify higher character setting value Change monitor code, parameter code or setting Change monitor code, parameter code or setting Display and storage setting 44

48 Panel Display and Opertation 7.2 Parameter setting process Monitoring Mode MODE Parameters group mode Monitor Status Basic parameters Position control parameters Extended Parameters MOTOR PARAMETERS MODE Set Check parameters mode MODE Set Modify /check the parameter values Back after checking parameters Quit changing parameters Set Save setpoint Change parameter values Parameter check / edit mode Parameter setting process: (1) When the servo drive control board power supply is turned on, the panel displays the current drive series "600A" for one second, then enter into the monitor mode. (2) In monitor mode, press or to check the monitor parameter code; when displaying monitor parameter code without key operation, one second to enter into the parameter code automatic monitor display. (3) In monitoring mode, monitoring parameters for the 32bit or display value is greater than 5 binary value, press << key to toggle the display of high and low, when the display of high, the highest point on the LED digital tube. (4) In monitor mode, press the MODE key to enter the inter-parameter group mode, then press or to switch the group code, press the MODE key parameters from among the group mode back to monitor mode. When model parameters between groups, the absence of key operation, automatically enter the monitoring parameter digital display monitor after a minute. (5) When the group parameter mode, after switching groups required by or, find the group, press the SET key to enter the code selection function within the group. After entering the group, or by to switch the function code within a group, need to find the function code, press the SET button, the system immediately enter setup mode. This parameter corresponds to the display at the same time setting will be displayed. In this case use or key to modify the parameter value, or press MODE key to exit setting mode and return to the parameter mode. 45

49 Panel Display and Opertation 7.3 Status display Function parameter change setting display When pressing the SET button to change the storage setting value, LCD display will continue to display the setting state for 1 second based on the setting state. Display symbol Fault and alarm display Setting value correct storage ends This parameter shall be valid after re-power Specification Parameters can not be modified when start the servo Read-only parameter, can not be modified This parameter is reserved values that can not be modified or password input error Display content Specification Servo drive failure or alarm, drive five LED displays the fault or alarm message and the information content is displayed in the following format: fault or alarm 0:ault; E:alarm Note: Fault or alarm number in the range of 01 ~ FF, specifically corresponding number fault or alarm please check the contents of the relevant sections. After the failure or alarm, press any button on the panel of the five in a duration of about 1 second, then the fault or alarm would flash at lowest digital tube decimal point until the fault or alarm eliminated. Fault or alarm display with the lowest digit blinking decimal form Symbol or parameter values Parameter display Display example When no fault or alarm, display "Er.- - -". Status specification Display a positive integer. Displayed value The numerical display range is less than the five-digit number of negative displays. Displayed value-623 The numerical display range is more than four-digit of negative display, the decimal of the two LED on the left is lighted on. Displayed value

50 Panel Display and Opertation Monitor parameter display When the value is greater than the range of five high five display. The highest point on the lower right position, expressing high five Decimal display. Displayed value When the servo drive power is turned on, the display will show the monitor function codes for approximately one second, then enter into the monitor mode. In monitor display mode by pressing or to change the monitor display parameters, or directly modify the parameters to specify Pr1.03 monitor status. The setting of Pr1.03 will be the preset monitor code when the power is turned on. (Note: Do not set reserved value of Pr1.03 setting) Pr1.03s etting Symbol display Content display Content specification Unit Servo control circuit board electrified, but the control circuit is not powered on, the symbol is displayed; the main control circuit has powered on, but fault or alarm is displayed, the symbol is displayed. - 0 Running state Control circuit board electrified and the main control circuit powered on, but the servo system is not in operation state; the symbol is displayed in S-off state. symbol is displayed. When the servo is running the When the servo is in the servo homing process Current actual speed of the motor For example: 400 is displayed, it indicates that the current motor speed is 400rpm. 1rpm 2 Current actual torque of the motor Expressed as a percentage of the rated torque. For example: Display 20.0, then the motor torque output is 20.0% of rated torque Motor feedback pulse number (absolute value) For example: When the value of 03.FbP is 2000 and 04.Fbp value is 3, the motor feedback pulse number = 32000Pulse; 1Pulse 4 Motor feedback rotation number (absolute value) When the value of 03.FbP is 2000,04.Fbv value is -3, the motor feedback pulse number = Pulse (reverse) 1Rev 5 Reserved 6 Drive total electrifying running time Drive electrifying running time 7 Reserved 8 External voltage command 1 For example: display 5250, represents an external voltage command to 5.25V 1min 1mV 47

51 Panel Display and Opertation External voltage For example: display 5250, represents an 9 command 2 external voltage command to 5.25V 10 Reserved 11 Bus voltage value For example: 315 is displayed, it indicates that the main control circuit voltage is 315V 12 Phase current effectievness Effect value of current 0.01A 13 Reserved IGBT module temperature Current electricity angle Input signal monitor (X) Output signal monitor (Y) 18 Pulse bias External pulse command input pulses External pulse command input pulse cycles 21 Reserved 1mV Current temperature of IGBT module 1 Current electricity angle, display range is 0~360 Show the actual digital input X terminal level. - Show the actual digital output X terminal level. Control command pulse and feedback pulse number deviation For example: When the value of 19.CP is 2000,20.CPs value is 3, the external pulse command input pulse number = 32000Pulse; When the 19.CP value is -2000,20.CPv value is -3, the external pulse input command pulse number = Pulse (reverse) (Can be cleared by the function code Pr1.10) 1V 0.1-1Pulse 1Pulse 1Rev 22 Corresponding speed of input pulse command (signed) Displays the external speed command input pulse with the symbol (symbol means direction) 1rpm Current implementposition, speed command section Display fault code selected by Pr7.07 Display internal multi-segment position or speed. For example, in position control mode, the display value is 5, which means the fifth internal position command is currently being executed. When in speed control mode, showing the currently executing the fifth internal speed command. For example: Display Er.002, it indicates that the overcurrent fault Display speed when Pr7.07 fault occurs For example: Show 3000, indicates failure motor speed is 3000rpm. 1rpm 48

52 Panel Display and Opertation 26 Display bus voltage when Pr7.07 fault occurs For example: 300 is displayed, it indicates a fault when the main circuit voltage is 300V. 1V Display the effective 27 value of phase electricity when Pr7.07 fault occurs For example: display 2, then the fault current is 2A. 0.01A 28 Display the time when Pr7.07 fault occurs For example: Show 1600, it means the time when the failure occurred is the time after system start running 1600mins and fails. 1min 7.4 Panel using methods Initial state of panel display (7 step LED) State In default state (Pr1.03 = 0) the drive powered on, the panel LED display section shows as follows: Sending alarm When the driver alarm, front panel display is shown as follows: When alarm, repeat the following displays (0.8 seconds display /0.8 seconds no display). about 0.8 seconds about 0.8 seconds When the drive alarms, the user presses any key on the panel for about 0.8 seconds, the alarm unit front panel display as follows: Press any key for 0.8 seconds, the alarm to the far right of the decimal point digital tube display (0.2 seconds display /0.2 seconds no display) about 0.8 seconds about 0.8 seconds fault or alarm marks 49

53 Panel Display and Opertation Monitor parameter display (part) Motor feedback rotation number display [represents the motor rotated counterclockwise circle (Pr1.02 = 0)] about 0.8 seconds top 5 position marks When the rotating direction of the motor feedback direction is opposite with the predetermined number, the recorded rotation cycle is negative [which represents the motor rotated clockwise 8,811,088 circle (Pr1.02 = 0)] about 0.8 seconds low 5 position marks The rotary cycles of motor is opposite with the actual regulated direction top 5 position marks The rotary cycles of motor is opposite with the actual regulated direction (1) Digital input X terminal status display In monitor mode, by turning the UP or DOWN keys to find, or setting its parameters by Pr1.03 to 16, and then returns to the monitoring mode, the digital input status can be diagnosed. There re totally 9 groups X terminal, performing five level switching by. Its display mode is bit, it would trigger when it is 0. about 0.8 seconds X5 X4 X3 X2 X1 X9 X8 X7 X6 low 5 position marks digital value input terminal X1-X5 top 5 position marks digital value input terminal X6-X9 (2) Digital input Y terminal status display In monitor mode, by turning the UP or DOWN keys to find, or setting its parameters by Pr1.03 to 17, and then return to the monitoring mode, the digital input status can be diagnosed. A total of six groups Y terminals switching by. Its display mode is bit, it would trigger when it is 0. 50

54 Panel Display and Opertation about 0.8 seconds Y5 Y4 Y3 Y2 Y1 Y6 low 5 position marks digital value input terminal Y1-Y5 top 5 position marks digital value input terminal Y6-Y9 (3) Digital output diagnosis operation Users can diagnose digital output terminal through function code Pr6.39, facilitating the actual line related tests. After entering the function code Pr6.39 setting mode, press <<,, keys to implementy1 ~ Y6 forced ON or OFF. Note: regardless of the logic Pr6.21 set level. After exiting Pr6.39, forced Y1 ~ Y6 state fail, the actual distributed Y port function status is valid. Set Forced ON Forced OFF Forced Y1 open Forced Y2 open Forced Y3 open Forced Y4 open Forced Y5 open Forced Y6 open MODE Exit (4) Analog digital input X terminal operation When input terminal (X1- X9) and external device are not connected, the user can simulate and achieve external digital input by the function code Pr6.41. First switch by using the internal X terminals (Pr6.40 = 1) by function code Pr6.40, then set high and low state of X1 - X9 by function code Pr6.41, users can also do appropriate action on function code Pr6.41 by PLC and man-machine interface. After entering the function code Pr6.41 setting mode, according to actual needs, the user can set the level of X1 ~ X9 by <<,,, SET key to 0 or 1, and after setting up a virtual terminal (X1 51

55 Panel Display and Opertation ~ after X9) high and low level, you can view the current level of X terminal by monitoring the state of the parameter 16.DIS. In addition, when users operate virtual terminal by communication, the corresponding parameter values can be written to function code Pr6.41 address, for example, when X6 terminal 1 is set to a high level, then write the set value 0x0020. Note: For edge trigger signal, such as the rising edge signal, when set to high level valid (Pr6.01), the current level of corresponding virtual X terminal status is 0, and when it is set to 1, a valid rising edge signal would be generated; if the current level is 1, then you need set the X terminal level to 0, and then re-set to 1, then generate a valid rising edge signal. Set High electricity level Low electricity level Set X1 electricity level Set X2 electricity level Set X3 electricity level Set X8 electricity level Set X9 electricity level SET Exit 52

56 Maintenance and Inspection Chapter 8 Maintenance and Inspection 8.1 Abnormality diagnosis and treatment measures The company's servo drive alert level is divided into two levels: Level 1: Fault, the servo drive has a serious alarm, does not work normally, which need to stop, Y terminal outputs signal ALM (assignment required). Level 2: Warning, the servo drive has not very serious warning, which temporarily does not cause damage to the drive, but it could turn into alarm level 1 if not treated in time, Y terminal output signal WARN (assignment required). After eliminating cause of the alarm, users can clear the warning alarm by X terminal ALRS (assignment required). 8.2 Alarm display checklist (1) Fault display checklist Symbol Alarm name Alarm content Type Hardware protection Detecting short-circuit protection device No reset HOC Detecting overcurrent protection of power device No reset AD Initialization failure AD module initialization calibration abnormal No reset Parameter storage fault AD Sampling module fault Eeprom Storage abnormal or frequent storage AD switch fault( Deviation is too large or the conversion timeout) No reset No reset Encoder abnormal 1 Encoder wire break No reset Encoder abnormal 2 Encoder abnormal 3 Undervoltage overvoltage Encoder abnormal when running(ab signaldisturbed or abnormal) Encoder abnormal when running(z signaldisturbed or abnormal) AC220 supply, bus voltage< 180V DC AC380 supply, bus voltage<380v DC AC220V supply, bus voltage>400v DC AC380V supply, bus voltage>760v DC No reset No reset Can reset Can reset System fault Servo drive internal fault No reset Motor overload Drive overload Motor rated load exceeds 120% or more over for a certain time Drive rated load exceeds 110% or more over a certain time Can reset Can reset Drive overheat Servo drive overheat Can reset 53

57 NOTESD600A Series AC Servo System Manual Maintenance and Inspection Encoder UVW signal abnormal Encoder UVW signal abnormal or break wire No reset Over speed Motor speed exceeds the maximum speed of the motor Can reset Excessive position deviation XTerminal allocation failure YTerminal allocation failure Serial communication timeout Positional deviation exceeds the configured setpoint deviation (Pr2.18) A plurality of X terminals assigned the same function A plurality of Y terminals assigned the same function Communication is not connected to the host device Can reset No reset No reset Can reset Power source fault External power supply L1C, L2C abnormal Can reset Homing Failed Origin search failed Can reset The system does not match Motor ID Number Exception ADCalibration error Voltage or current servo drives and motors do not match The servo drive does not drive the motor with the ID number Servo drives automatic correction of analog channel offset No reset No reset Can reset FPGA fault CPU FPGA data reading abnormal Can reset Encoder conneting fault DSP running abnormal ID number and the actual connection of the motor does not comply DSP is detected or the programming process did not work Can reset No reset 1, No reset alarm type means after a system failure, even if the fault can not be ruled out by X terminals or cleared by Pr7.08 function code, it must be re-powered. 2, Can reset alarm type means after a system failure, after troubleshooting, you can clear X terminals or Pr7.08 and do not need to re-power. 54

58 Maintenance and Inspection (2) Warning display list Drive overheat warning Motor overload warning Drive Overload Warning Excess position deviation warning Forward overtravel warning Reverse overtravel warning Emergency Brake Warning Servo drive main circuit (IGBT) temperature reaches the overheating fault. Will reach motor overload inverse time curve. Will reach servo drive overload inverse time curve. Deviation counter droop pulse emitted outside the warning range. Action when forward limit switch is pressed. Action when reverse limit switch is pressed. Action when emergency braking switch is pressed. After warning eliminate, LED alarm display is automatically eliminated. 8.3 Fault Causes and Treatment Servo drive in case of failure, it will display "Er. " on drive panel display, fault indication and treatment measures are as follows. Fault code Cause Treatment measure Check the wiring status of motor and drive or short circuit body short or not, excluding short-circuit state and avoid Er.001 Detect short-circuit protection metal conductor being exposed; SC device Check the wiring sequence of motor and the servo drive is the same as described in the wiring order to ensure the same wiring sequence; Please check whether the set value is much larger than the factory preset value, if it is much larger than the factory preset, then gradually recover the amount of modification; Er.002 Power device overcurrent Please check whether the command control input changes HOC detected too intense, too intense changes in the rates of change Please correct the input commands or open the corresponding filter function; Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Er.003 AD Re-power, if there s still problem after multiple re-power, AD initial calibration module fault initializatio replace the drive, or look for technical support. n fault 55

59 Maintenance and Inspection Er.004 Abnormal parameter storage Er.005 ADSamplin g module fault Er.006 Encoder abnormal 1 Er.007 Encoder abnormal 2 Er.008 Encoder abnormal 3 Er.009 Undervolta ge Eeprom memory storage or frequent abnormal Deviation is too large or the conversion timeout Encoder disconnection Encodr AB disturbed Encodr z disturbed Main circuit input voltage is below the permissible rated voltage No main circuit input voltage source Power input error Please check whether the host device frequently modified servo drive function parameters, if so, please change the parameter write method and re-writing; Please arbitrarily modify a parameter and then re-power to see if the parameters are saved and, if not, please save again after power on if there are still many problems, replace the drive, or ask for technical support. Please check whether the drive servo drive side is not enabled when a current output, analog sampling voltage is abnormal or not; Check the U-phase, V-phase, W-phase wiring is correct or not, to ensure compliance with the relevant requirements of wiring, re-seated cable; Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Please check the encoder U, V, W, A, B, Z wiring is correct or not; Please check the encoder connection joint is solid or not; Please check the encoder signal line is relevant and correct welding; Please check the motor type (function code PrE.04) on the motor nameplate ID number is the same or not; Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Check encoder wiring is solid or not; Check whether the encoder has mask processing or not; Check to see if the encoder AC power line along the alignment or not; Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Check encoder wiring is solid or not; Check whether the encoder has mask processing or not; Check to see if the encoder AC power line along the alignment or not; Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Check the main circuit input voltage wiring is correct or not, reconfirm the wiring. Please check the main circuit voltage is normal or not. Please check the power supply system is consistent with the specifications defined, make sure that the correct voltage source. 56

60 Maintenance and Inspection Er.00A Overvoltag e Er.00B System fault Er.00C Motor overload Er.00D Drive overload Er.00E Drive overheat Servo drive failure AC220V servo drives detected DC link voltage exceeds 400V; AC380V servo drives detected DC link voltage exceeds 760V Power supply voltage is unstable, or struck by lightning Drive hardware failure Rapid deceleration EEPROM fault Function code parameter error continuous using Exceed the rated load servo drive Motor, encoder wiring error Motor stuck Heavy load Motor overload point setting error The motor (drive) run over overload protection feature Servo drive failure High working environment temperature Installation direction of servo drives and unreasonable connection with other devices Drive overtemperature point is not set correctly Servo drive fan abnormal Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Measure the power supply input voltage, AC power supply voltage is adjusted within the range of product specifications. Measuring the mains voltage, improve power supply situation, and then set the power surge suppressors, and if alarm still occurs, there may be a servo drive fault, repair or replace the servo drive. Check the main circuit input voltage, if alarm still occurs within the rated allowable range, repair or replace the servo drive. Check whether the load inertia is large, overvoltage during deceleration, please check if installed regenerative resistor. Re-power, if the alarm still occurs, there may be a servo drive fault, repair or replace the servo drive. After restoring factory value, if the alarm still occurs, there may be a servo drive fault, repair or replace the servo drive. Please set the parameters to 2 by Pr1.03 and return to check the monitor whether mode value of the actual torque 02.Toq been greater than 100. If greater, increase the motor capacity or decrease the load. Check the motor and encoder wiring errors. Check whether the motor has a stall. Increase motor capacity. Detect if Pr7.03 set is too low. Confirm the motor or servo drive overload characteristics and operating instructions, re-change load conditions, operating conditions and motor capacity. Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Measuring environment temperature, based on the environment temperature to improve the working environment. Check if the servo drive installation conform to the relevant regulations. Please check the function code Pr7.06 parameter values are correct. Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. 57

61 Maintenance and Inspection Er.010 Over speed Er.011 Excess position deviation Er.012 XAllocation Fault Er.013 YAllocation Fault Er.014 Communic ation timeout fault Er.015 Power Servo motor UVW wiring serial error Speed command input value exceeds the overspeed value Motor speed overshoot Function zero electrical angle (PrE.28) and encoder offset angle (PrE.29) settings are correct or not Servo drive fault Servo motor UVW connection is correct or not Motor overload causes the motor to stuck Servo drive slow response time resulting in the number of droop pulses is too large Position command pulse frequency is too high Position command acceleration is too large position error value (Pr2.18) is not set correctly Servo drive fault A plurality of X terminals assigned the same function A plurality of Y terminals assigned the same function Long time not receivingcommunication command Power supply Fault Check the motor wiring, motor wiring confirm if there are problems. Make sure the speed command input, reduce instruction value or gain. Check the motor velocity waveform, reduce the regulator gain. Please check whether the two function codes are factory set value, and restore them to factory set value. Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Check motor wiring main circuit cable, confirm whether there s motor cable or encoder cable poor contact problem. Check if the transmission belt or chain is too tight or if the table reaches the boundary or obstacle. Increase the position loop gain parameter (Pr5.00) or position loop feedforward gain (Pr5.06). Try to reduce instruction frequency, the instruction acceleration or electronic gear ratio and then run. Join the position command acceleration and deceleration time smoothing parameter, and reduce the lowered position command acceleration and then run. Please follow the set position error value (Pr2.18) correctly. Re-power, if there s still problem after multiple re-power, replace the drive, or look for technical support. Please check if the function code of many X terminals are the same in Pr6.02 ~ Pr 2.10 to ensure that the function codes are different. Please check if the function code of many Y terminals are the same in Pr6.22 ~ Pr6.27 to ensure that the function codes are different. Please check the function code parameter value Pr8.04 settings are correct. Please check the value of the parameter function code Pr7.19 settings are correct. 58

62 Maintenance and Inspection supply Fault Check if the main circuit terminals L1C, L2C are bad. Indeed after the access to power, while still abnormal, return to the dealer or factory overhaul. Make sure that the value set Pr2.24 not too small. Er.016 Homing Failed Er.017 Dynamic braking close Er.018 System does not match Er.019 Motor Idnumber abnormal Er.01A AD correction abnormal Er.020 Er.021 Er.023 When you enable homing function within the set time Pr2.24, the origin point cannot be detected. Dynamic braking system has shut down during operation Servo drive voltage and motor voltage rating does not match Servo drive rated current and the rated current of the motor does not match The servo drive does not recognize the ID number of the servo motor When the servo drive is set to automatic correction of analog channels (Pr6.38 = 1/2) Offset value failed DSP FPGA for data read is not normal Servo drive encoder signals detected abnormal. DSP running abnormal Make sure that the value set Pr2.24 not too small. Make sure that the zero signal (ORGP or motor Z signal) is valid. After clearing the fault re-run several times, rerun still reported the fault, return it original dealer or repair. Check to see if the servo drive and motor are 220V or 380V. Check if the servo drive rated current and the motor rated current matches, allowing only the drive rated current is greater than or equal to the rated motor current. Check to see if the ID number on the motor nameplate is the same with the values in the servo drive PrE.04; Check the motor parameters set custom meets the practical requirements. Please check if there s voltage input during automatic calibration for analog input channels; Make sure the analog AI1, AI2 correction when the external input voltage is 0V. Repeat power-detect, if this fault occurs every time when power on, it means the FPGA between DSP and FPGA signal abnormality or abnormal connection Check PrE.04 motor ID number is consistent with the ID number on the actual motor nameplate or not, the cause of the alarm is that the drive motor ID number is for the non-line encoder motors, while the actual connection is not that type of line encoder motor. Repeat power-detect, if this fault occurs every time when power on, it means DSP abnormal or signal connection abnormal between DSP and FPGA. 59

63 Maintenance and Inspection 8.4 Other conditions and treatment measures Check methods Treatment measures Bad condition Cause Please inspect and handle after setting the servo drive power to OFF Control power is not on Check the control voltage Correct control power ON between the power supply circuit terminal Main circuit power is Check the voltage between main Correct main circuit power not on circuit power supply terminals ON circuit Input Output (CN1 Check CN1 connector installation, Properly installed wiring connector) wiring error wiring connector CN1 or off Servo motor does not start Servo motor, Wiring is properly Inspect lines and wiring encoder wiring off connected Reduce the load, or use a Overload No-load test run larger capacity servo motor and drive No input speed / Check input speed / position Enter the correct speed / position command command signal position command signal Encoder type is different from the Correctly set the encoder Check encoder type being used setting of user type (PrE.25) parameters Correctly terminal input Servo ON (SON) input Confirm terminal setpoint input parameter setting, the servo remains OFF parameters ON (SON) input is set to ON Speed control: Speed Confirmation control mode Right control parameter command input (Pr1.00) are consistent with the settings or input inappropriate input Torque control: Torque Confirmation control mode Right control parameter command input (Pr1.00) are consistent with the settings or input inappropriate input Position Check (Pr2.01) the reference Right control parameter control:command pulse pulse form or sign + pulse signal settings or input input inappropriate Forward drive prohibited (P- OT), reverse drive Check the P-OT or N-OT input Set P-OT and N-OT input prohibited (N-OT) signal signal to OFF input signal remains ON state Servo drive failure Servo drive circuit board failure Change servo drive 60

64 Maintenance and Inspection Servo motor stops running after a momentary moving Rotatory instability of the servo motor Servo motor rotates when there s no command Motor wiring error Check the motor wiring Correct motor wiring Encoder wiring error Check encoder wiring Correct encoder wiring Poor wiring contact of servomotor Speed control: Speed command input inappropriate Torque control: Torque command input inappropriate Unstable connection between power lines (U, V, W-phase) and connector encoder Confirm control mode (Pr1.00) are consistent with the input Confirm control mode (Pr1.00) are consistent with the input Tighten and re-handling terminal and connector loose fastening parts Right control parameter settings or input Right control parameter settings or input Adverse offset adjustment of Bias adjustment of servo Speed command offset servo drive drive Position control: the Check (Pr1.01) instruction pulse Right control parameter pulse input command form or symbol + pulse signal settings or input inappropriate Servo drive failure Servo drive circuit board failure Replace the servo drive Poor mechanical installation Servo motor mounting screws loose Whether the coupling axis misalignment Re-tighten the mounting screws Aligned with the axis of the coupling Coupling out of balance Ensure coupling balance Bearing abnormal Check bearing surrounding If unusual, please contact sound sound, vibration condition our service department Abnormal noise of servo motor different specifications of input signal lines, being disturbed Length of input signal wire exceeds using range, being disturbed Shielded twisted pair cable, core wire 0.12mm2 or more, and consistent specifications, using of tinned copper shielded twisted pair cable Confirm longest wiring length is 3m. Impedance of 100Ω or less Input signal line specifications meet the requirements The length of the input signal line meets the requirements Encoder signal line different specifications, disturbed Shielded twisted pair cable, core wire 0.12mm2 or more, and consistent specifications, using of tinned copper shielded twisted The encoder signal line specifications meet the requirements pair cable Length of input signal wire exceeds using range, being disturbed Confirm longest wiring length is 20m The length of the input signal line meets the requirements 61

65 Maintenance and Inspection Encoder cable damage, being disturbed The potential of the ground terminal of servo motor changes due to the influence of equipment on servo motor side (welding, etc.) Interfere with the servo drive pulse count error Encoder is subject to excessive vibration, shock Encoder cable producing biting, skin damage, signal lines being disturbed Confirm servo motor side, welding ground state (not grounded, not totally grounded) Encoder signal line being disturbed Mechanical vibration or poor motor mounting (mounting surface accuracy, fixing, eccentric) Replace encoder cable laying and revise the way Connect the device ground, so as not to split the encoder signal line Implementation of the encoder signal line anti-jamming measures Reduce mechanical vibrations, and install servo motor according to specifications Encoder failure Encoder failure Replace servomotor Position loop controller proportional gain (Pr5.00) set too high Factory setting: 20.0Hz, please refer to the user manual for gain adjustment Correct position loop regulator proportional gain (Pr5.00) setting vibration of the servo motor Position loop feedforward gain regulator (Pr5.06) set too high Factory setting: 0.0Hz, please refer to the user manual for gain adjustment Correctly position loop feedforward gain (Pr5.06) setting 200 ~ 400Hz frequency Speed loop gain (Pr5.01) set too high Factory setting: 200.0Hz, please refer to the user manual for gain adjustment Correctly bit rate gain (Pr5.01) setting Speed loop integral time (Pr5.02) set incorrectly Factory setting: 40.00ms Please refer to the user manual for gain adjustment Correct speed loop integral time (Pr5.02) setting Load inertia ratio Check the load inertia ratio Calibration Load inertia (Pr5.29) set incorrectly parameter (Pr5.29) ratio (Pr5.29) setting 62

66 NOTESD600A Series AC Servo System Manual Maintenance and Inspection 8.5 Servo maintenance and inspection The servo system is composed of many parts and only if all parts work normally, the device can play proper function. For mechanical parts and electronic components, depending on using conditions, some parts need maintenance. There must be periodic inspection or replacement to ensure the servo motor and its servo drive can run for a long time Servo motor repairment Since there s no electric brush for AC servo motor, so routine maintenance is enough; the maintenance period in the table is substantially standard. According to using environment to judge and determine the most appropriate maintenance period Do not dismentle servomotor for maintenance or inspection. When removing the servo motor, please contact our support agents or technology department. Items Inspection time Inspection, maintenance essentials Note Confirm vibration and sound Every day Tactile and auditory judgment No increase compared with the usual Exterior According fouling situation Maintenance Insulation resistance At least once a year measurement Replace oil seal At least every 5000 hours Comprehensive At least 20,000 hours or overhaul five years Servo drive repairment Wipe clean with a cloth or with an air - gun Cut off the connection with the servo When 10MΩ or less, unit, using 500V megger to measure please contact our insulation resistance. Resistance service department. exceeds 10MΩ means normal Only for servo motor Please contact our agents or with an oil seal technical support - The servo drive unit does not need routine maintenance, but please do overhaul more than once each year. Items Inspection time Inspection, maintenance essentials Note Exterior Maintenance At least once a year No dust, grease, etc. Wipe clean with a cloth or with an air gun Screw loose No loosening screws for wiring boards, connectors, etc. Get tighter 63

67 Maintenance and Inspection General standard for servo unit interior parts replacement Mechanical wear and aging might occur for electrical and electronic components. To ensure safety, please perform periodic maintenance. Also, please take the standard change year as the general standard and contact with the company or agency business. We will then investigate to determine whether replacing parts is needed or not. Since the parameters have been restored to the factory default, please reset to the user parameters before use. Names of Parts Standard change year Using condition Cooling Fan 4~5 years Smoothing capacitor 7~8 years Environment temperature:30 Relays Based on actual needs average Fuse 10 years load factor: 80% or less Run rate: 20 hours or less/ day Aluminum electrolytic capacitors 5 years printed circuit board 64

68 Appendix Chapter 9 Function Parameters Parameter definition Pr1.XXgroup1: basic parameter Pr2.XXgroup2: position control parameter Pr3.XXgroup3: speed control parameter Pr4.XXgroup4: torque control parameter Pr5.XXgroup5: tuning parameter Pr6.XXgroup6: input/output setting parameter Pr7.XXgroup7: auxiliary function parameter Pr8.XXgroup8: communication parameter Pr9.XXgroup9: internal multi step position control parameter PrA.XXgroupA: internal multi step speed control parameter PrE.XXgroupE: motor parameter Parameter properties ( ): Set at any time, effective immediately ( ): Set at any time, effective when re-start ( ): Stop setting, effective immediately ( ): Stop setting, effective when re-start Control mode specification P position control S speed control T torque control Pr1.XX:basic parameter No. Parameter specification Factory default Pr1.00 Control mode selection 1 Pr1.01 Internal SON instruction setting Pr1.02 Rotary direction selection 0 0 Setting range 0: speed control mode 1: position control mode 2: torque control mode 3: speed/position control mode 4: speed/torque control mode 5: position/torque control mode 0: internal Son invalid 1: internal enable servo (power down without saving, press the combination key ( + ) to stop 0: CCW direction is forward direction 1: CW direction is forward Fe atu re Runni ng mode Commu nication address P S T 0x0100 P S T 0x0101 P S T 0x

69 Appendix Pr1.03 The initial drive status monitor display settings 0 0~28 P S T 0x0103 0: Servo OFF, free stop; overtravel, zero-speed stop. 1: Servo OFF Deceleration stop Pr1.04 Servo Off or overtravel stop (deceleration time Pr mode setting) Overtravel, deceleration stop (deceleration time Pr1.06 setting) P S T 0x0104 Pr1.05 Servo Off deceleration time 500 2~10000ms P S T 0x0105 Pr1.06 Pr1.08 Pr1.09 Pr1.10 Overtravel deceleration time Electromagnetic brake signal on delay time Electromagnetic brake signal off delay time External input pulses instruction clear Pr2.XX position control parameter No. Pr2.00 Pr2.01 Parameter specification Position control mode command source selection External pulse command input form selection 200 2~10000ms P S T 0x ~10000ms P S T 0x ~10000ms P S T 0x Factory default 0 0 0: No action 1: Clear 19.CP and 20.CPv values, automatically cleared after setting to 1 Setting range 0: External pulse command (Pt) 1: Internal multi-instruction (Pr) 0: pulse (P) + a direction (N) positive logic 1: pulse (P) + directions (N) negative logic 2: AB-phase quadrature pulse positive logic 3: AB-phase quadrature pulse negative logic 4: CW + CCW pulse positive logic 5: CW + CCW pulse negative logic P 0x010A Fe atu re Runni ng mode Commu nication address P 0x0200 P 0x

70 Appendix Pr2.02 Pr2.03 Pr2.04 Pr2.05 Pr2.06 Internal position command execution multistage selection Internal margin position handling (only valid when Pr2.02 = 0 or 1) Internal position S-type smooth command forward acceleration / deceleration time Internal position S-type smooth command Reverse acceleration / deceleration time Location S smooth curve smooth acceleration and deceleration time 0 0 0: Run from Pr1 to Pr16, cycling 1: Run from Pr1 to Pr16, not circulated 2: External X terminal switching 3: seeking long calibration control 0: start again from paragraph 1 position 1: continue to run not finish position P 0x0202 P 0x ~10000ms P 0x ~10000ms P 0x ~1000ms P 0x0206 Pr2.07 External pulse smoothing 0 0~6500ms P 0x0207 Pr2.08 Electronic gear numerator 1 1 1~32767 P 0x0208 Pr2.09 Electronic gear numerator 2 1 1~32767 P 0x0209 Pr2.10 Electronic gear numerator 3 1 1~32767 P 0x020A Pr2.11 Electronic gear numerator 4 1 1~32767 P 0x020B Pr2.12 Electronic gear denominator 1 1~32767 P 0x020C Pr2.13 Pr2.14 Pr2.15 Pr2.16 Pr2.17 Positioning complete signal amplitude close Positioning Completion Range Deviation clear action selection (External X terminal) Position deviation clear choice Position deviation follow warning value 20 1~65535Pulse P 0x020D 10 0~65535Pulse P 0x020E 0 1 0: The CLK edge clear 1: The CLK low clearance 2: High Clear 3: CLR edge clear 0: Only clear the deviation at the time of failure 1: Clear deviation Fault / Servo Off 2: Do not clear the deviation P 0x020F P 0x ~65535 Pulse P 0x

71 Appendix Pr2.18 Pr2.19 Pr2.20 Pr2.21 Pr2.22 Position deviation value follow fault value Homing function enable control Origin detector type and direction searching setting The first high-speed zero return speed setting The second low-speed zero return speed setting ~65535 Pulse P 0x : Disable homing function; 1: to enable the homing function by X terminal ORGS signal; 2: After powering on homing function immediately; 3: Right now searching home point 0: Forward back to zero, and the deceleration point of origin switch; 1: Reverse back to zero, and the deceleration point of origin switch; 2: Forward back to zero, and the deceleration point for the motor encoder Z signal; 3: Reverse back to zero, and the deceleration point for the motor encoder Z signal; 4: Forward back to zero, and the deceleration point is the origin switch, the origin of the motor encoder Z signal; 5: Reverse back to zero, and the deceleration point is the origin switch, the origin of the motor encoder Z signal; 6: Positive zero return deceleration limit switch positive point of origin for the home switch 7: negative zero return deceleration point negative limit switch, home switch origin P 0x0213 P 0x ~2000rpm P 0x ~500rpm P 0x0216 Pr2.23 OPR deceleration time ~1000ms P 0x0217 Pr2.24 Homing time setting ~65535ms P 0x0218 Pr2.25 After homing operation is completed if the servo is enabled 0 0: unable 1: enable P 0x

72 Appendix Pr2.26 Homing pulse compensation equivalent 1 1~500Pulse P 0x021A Pr2.29 Pr2.30 Pr2.31 Pr2.32 Pr2.33 Pr2.34 Pr2.35 Mixed control mode, speed or torque mode to position mode smoothing time Encoder divider output molecule Encoder output divider denominator Z signal output pulse width coefficient Z signal output polarity selection Encoder pulse divided output feedback direction selection Quadrature encoder input filter time 50 2~10000ms P 0x021D ~Pr2.31 P S T 0x021E ~10000 P S T 0x021F : 1 1: 2 0: positive polarity 1: negative polarity 0: Forward mode (A ahead of B) 1: Reverse mode (A lags B) P S T 0x0220 P S T 0x0221 0x ~1000ns P S T 0x0223 Pr2.36 Speed pulse input filter time 30 0~1000ns P 0x0224 Pr2.41 Fixed length 1 (pulse) 0 0~100 million P 0x0229 Pr2.42 Fixed length 1 (pulse) ~10000 P 0x022A Pr2.43 Seeker acceleration time 200 2~3000ms P 0x022B Pr2.44 Seeker deceleration time 500 2~3000ms P 0x022C Pr2.45 Seeker peed 200 2~3000rpm P 0x022D Pr2.46 Slip compensation speed 1.00 Pr2.47 Slip compensation threshold length (pulse) 0.0~100.00rpm (invalid when 0 compensation) P 0x022E 50 10~1000 P 0x022F Pr2.48 Seeker limit length (pulse) 3 1~120 million P 0x0230 Pr2.49 Pr2.50 Seeker minimum length 1 (pulse) Seeker minimum length 2 (pulse) 0 0~100 million P 0x ~10000 P 0x0232 Pr2.51 Seeker limit length 1 (pulse) 0 0~10000 P 0x

73 Appendix Pr3.XX:speed control parameters: No. Parameter specification Factory default Setting range Fe atu re Runni ng mode Commu nication address Pr3.00 Speed control mode command source selection 0 0: Internal digital setting / communications given 1: Analog reference 1 2: Analog reference 2 3: Internal speed command switch S 0x0300 Pr3.01 Internal multispeed selection 0 0: Multi-speed automatic switching cycle 1: Multi-speed automatic switching, not circulated 2: Multi-speed external X terminal switching S 0x0301 Pr3.02 Pr3.03 Pr3.04 Pr3.05 Pr3.06 Pr3.07 Pr3.08 Speed S-type smooth command acceleration time constant Speed S-type smooth command deceleration time constant Speed S-curve acceleration and deceleration curve smoothing constant Speed command deceleration smoothing constant (low-pass smoothing filter) The maximum analog input (10V) corresponds to the speed command Analog speed command zero fixed value Zero speed signal output value 100 2~10000ms S 0x ~10000ms S 0x ~1000ms S 0x ~1000.0ms S 0x ~10000rpm S 0x ~300rpm S 0x ~100rpm P S T 0x0308 Pr3.09 Rotation signal output value 10 0~1000rpm P S T 0x0309 Pr3.10 Speed Close threshold ~3000rpm S 0x030A Pr3.11 Speed reach threshold 20 1~3000rpm S 0x030B Pr3.12 Maximum motor speed setting ~9000rpm P S T 0x030C 70

74 Appendix Pr3.13 Pr3.14 Speed command direction selection Speed detection filter coefficients Pr4.XX:torque control parameters: No. Parameter specification 0 0: same as the default command direction 1: opposite with the default command direction S 0x030D 0 0~8 P S T 0x030E Factory default Setting range Fe atu re Runni ng mode Commu nication address Pr4.00 Pr4.01 Pr4.02 Pr4.03 Pr4.04 Pr4.05 Pr4.06 Pr4.07 Pr4.08 Torque control mode command source selection Internal digital setpoint torque command Speed limit value during torque control Torque command smoothing constant Maximum analog input (10V) corresponding torque command Torque limit selection when position control, speed control and torque control Torque command direction selection Torque control speed limit sources External analog speed limit selection 0 0:internal digit given (Pr4.01) 1:analog value 1 given 2: analog value 2 given T 0x ~±300.0% T 0x ~5000rpm T 0x ~1000.0ms T 0x ~300% T 0x : internal limit [Pr5.27 ~ Pr5.28] 1: Analog 1 limit (At the same time limited by Pr5.27 / Pr5.28) 2: Analog 2 limit (At the same time limited by Pr5.27 / Pr5.28) 0: same direction as the default 1: Contrary to the default direction 0: Internal speed limit (Pr4.02) 1: External analog speed limit 0:analog value 1 given 1: analog value 2 given P S T 0x0405 T 0x0406 T 0x0407 T 0x

75 Appendix Pr5.XX:gain parameters No. Parameter specification Factory default Setting range Fe atu re Runni ng mode Commun ication address Pr5.00 Position control regulator proportional gain ~ Hz P 0x0500 Pr5.01 The speed loop proportional gain ~ Hz P S 0x0501 Pr5.02 Speed loop integral time ~ ms P S 0x0502 Pr5.03 Position control regulator proportional gain ~ Hz P 0x0503 Pr5.04 The speed loop proportional gain ~ Hz P S 0x0504 Pr5.05 Speed loop integral time ~ ms P S 0x0505 Pr5.06 Position feed-forward gain control regulator ~100.0 % P 0x0506 Pr5.07 Position control feed-forward gain smoothing constant 5 2~100 ms P 0x0507 Pr5.08 Two gain changing selection 0 0: Fixed to 1st gain 1: Fixed to 2nd gain 2: X terminal switching (G-SEL) 3: position pulse difference switching condition, switching threshold is Pr5.09 4: speed command is switching P S 0x0508 condition, switching threshold is Pr5.10 5: the torque command switching condition, switching threshold is Pr5.12 Pr5.09 Two gain changing selection - position pulse deviation 30 0~65535 Pulse P 0x0509 Pr5.10 Two gain changing selection - speed command 100 0~65535 rpm P S 0x050A Pr5.12 Two gain changing selection - torque command ~300.0 % P S 0x050C Pr5.13 Gain wait time 1 0 0~10000 ms P S 0x050D Pr5.14 Gain switching time 1 0 0~10000 ms P S 0x050E Pr5.15 Waiting time gain 2 0 0~10000 ms P S 0x050F Pr5.16 Gain switching time 2 0 0~10000 ms P S 0x0510 Pr5.17 Velocity loop control mode 0 0: PI control 1: P-PI control switch P S 0x

76 Appendix Pr5.18 Pr5.19 Pr5.20 Pr5.22 Pr5.25 Pr5.26 P-PI control switching condition selection Internal torque command switching P-PI Conditions Speed command switching P-PI Conditions Position deviation pulse switching P-PI Conditions Forward emergency braking torque limit Reverse emergency braking torque limit 1 0: External X terminal switch 1: Internal torque command 2: speed command 3: Pulse Deviation P S 0x ~300.0 % P S 0x ~9000 rpm P S 0x ~65535 Pulse P 0x % 0.0%~300.0% P S T 0x % 0.0%~300.0% P S T 0x051A Pr5.27 Drive maximum torque limit 300% 0.0%~300.0% P S T 0x051B Pr5.28 Drive maximum reverse torque limit 300% 0.0%~300.0% P S T 0x051C Pr5.29 Load inertia / motor inertia ~ P S T 0x051D Pr5.31 Mechanical resonance 0: Close 0 frequency detection switch 1: Open (not save) P S 0x051F Pr5.32 The first mechanical resonance frequency - 50 ~ 2000 Hz (read only) - P S 0x0520 Pr5.33 The 2 mechanical resonance frequency - 50 ~ 2000 Hz (read only) - P S 0x0521 Pr5.34 Group 1 notch frequency ~ 2000 Hz (2000 closed) 2000 Close P S 0x0522 Pr5.35 Group 1 notch width rating P S 0x0523 Pr5.36 Group 1 trap depth rating 2 0~99 P S 0x0524 Pr5.37 Group 2 notch filter frequency ~ 2000 Hz (2000 closed) 2000 Close P S 0x0525 Pr5.38 Group 2 notch width rating P S 0x0526 Pr5.39 Group 2 notch depth rating 2 0~99 P S 0x0527 Pr6.XX:input/output parameters No. Pr6.00 Parameter specification X terminal input filter response time setting Factory default Pr6.01 X terminal level logic Setting range Fe atu re Runni ng mode Commun ication address 2 0~20ms P S T 0x ~ : low level valid 1: high level valid P S T 0x0601 Pr6.02 X1 functional planning 1 0~99 P S T 0x

77 Appendix Pr6.03 X2 functional planning 2 0~99 P S T 0x0603 Pr6.04 X3 functional planning 3 0~99 P S T 0x0604 Pr6.05 X4 functional planning 4 0~99 P S T 0x0605 Pr6.06 X5 functional planning 5 0~99 P S T 0x0606 Pr6.07 X6 functional planning 6 0~99 P S T 0x0607 Pr6.08 X7 functional planning 7 0~99 P S T 0x0608 Pr6.09 X8 functional planning 8 0~99 P S T 0x0609 Pr6.10 X9 functional planning 9 0~99 P S T 0x060A Pr6.12 AI1 sampling detuning 0-1~1.000V P S T 0x060C Pr6.13 AI2 sampling detuning 0-1~1.000V P S T 0x060D Pr6.15 AI1 zero deadband setting ~100.0% P S T 0x060F Pr6.16 AI2 zero deadband setting ~100.0% P S T 0x0610 Pr6.18 AI1 Analog input filter time 2 0~10000ms P S T 0x0612 Pr6.19 AI2 Analog input filter time 2 0~10000ms P S T 0x0613 Pr6.21 Y terminal level logic ~ : low level valid 1: high level valid 74 P S T 0x0615 Pr6.22 Y1 functional planning 1 0~99 P S T 0x0616 Pr6.23 Y2 functional planning 2 0~99 P S T 0x0617 Pr6.24 Y3 functional planning 3 0~99 P S T 0x0618 Pr6.25 Y4 functional planning 4 0~99 P S T 0x0619 Pr6.26 Y5 functional planning 5 0~99 P S T 0x061A Pr6.27 Y6 functional planning 12 0~99 P S T 0x061B Pr6.28 Y1 valid delay time 0 0~10000ms P S T 0x061C Pr6.29 Y1 invalid delay time 0 0~10000ms P S T 0x061D Pr6.30 Y2 valid delay time 0 0~10000ms P S T 0x061E Pr6.31 Y2 invalid delay time 0 0~10000ms P S T 0x061F Pr6.32 Y3 valid delay time 0 0~10000ms P S T 0x0620 Pr6.33 Y3 invalid delay time 0 0~10000ms P S T 0x0621 0: Close offset automatic adjustment Pr6.38 Zero offset from the analog 1: Enable AI1 offset automatic 0 input adjustment adjustment 2: Enable AI2 offset automatic adjustment P S T 0x0626 Pr6.39 Forced digital output ~ P S T 0x0627 Internal or external X terminal 0: external X terminal Pr P S T 0x0628 switching 1: internal X terminal

78 Appendix Pr6.41 Internal X terminal high/low setting X terminal function: Setting value ~ P S T 0x0629 Name Function specification 0 Disable Function invalid 1 SON Servo enable OFF: servo motor enable forbidden ON: servo motor power on enable Trigger mode Level triggered Running mode P S T 2 ALRS Alarm reset For troubleshooting, you can reset the fault reset Edge triggered P S T 3 PCLR Position control pulse deviation counter clear See trigger mode in Pr2.15 Level/Edge triggered P 4 SPDINV Speed command direction selection OFF: same direction as the default ON: Contrary to the default direction Level triggered S 5 CMD1 6 CMD2 7 CMD3 8 CMD4 Internal instruction bit0 Internal instructionbit1 Internal instructionbit2 Internal instructionbit3 Position control mode:the signal is the location multistage selection function; Speed control mode: the signal is the multi-speed signal selection function Level triggered Level triggered Level triggered Level triggered P S P S P S P S 9 PCTRG Internal position command trigger (Pr2.02 = 2 valid) Multi-position trigger conditions (when used with an external X Multi-position switch internal instruction) Edge triggered P 10 MSEL Control mode switching Mixed control mode switching Level triggered P S T 11 ZCLAMP Analog speed command zero fixed enable signal ON: Zero fixed function enable OFF: Zero bit fixed function disable Level triggered S 12 INH Pulse forbidden ON: no command pulse input OFF: Allow command pulse input Level triggered P When the mechanical movement 13 P-OT Forward driving forbidden exceeds the movable range into overtravel prevention function: ON: Forward driving ban Level triggered P S T OFF: Allow forward drive When the mechanical movement 14 N-OT Reverse driving forbidden exceeds the movable range into overtravel prevention function: ON: reverse driving ban Level triggered P S T OFF: Allow reverse drive 75

79 Appendix 15 Reserved 16 Reserved 17 JOGCMD+ Forward jog ON: in accordance with the instructions given rotation OFF: Run command Stop input Level triggered S 18 JOGCMD- Reverse jog ON: in accordance with the instructions given rotation OFF: Run command Stop input Level triggered S 19 GEAR1 Electronic gear numerator option 1 GEAR2 GEAR1 electronic gear numerator 0 0 Pr2.08 Level triggered P 20 GEAR2 Electronic gear numerator option Pr Pr Pr2.11 Level triggered P 21 GainSel Two gain switching OFF: 1st gain ON: 2nd gain Level triggered P S ON: P control for the speed control 22 PCNT P / PI control switching loop OFF: PI control for the speed control loop Level triggered P S 23 ORGP Origin switch signal OFF: do not touch the origin switch ON: Touch the origin switch Level triggered P S T 24 ORGS Origin homing start signal OFF: Prohibition homing function ON: Enable homing function Edge triggered P S T 25 TRQINV Reverse torque command OFF: same as the default torque command direction ON: opposite with the default torque Level triggered T command direction 26 INPOSEN Internal position command trigger (Pr2.02 = 0 or 1 valid) Multistage position trigger condition Level triggered P 29 MARKEN Color trigger function (Pr2.02 = 3 valid) Trigger seeking long calibration function Edge triggered P 30 EMEBAK External emergency brake OFF: External emergency braking invalid ON: Emergency internal brake valid Level triggered P S T 27~99 Reserved 76

80 Appendix Y terminal function: Setting value 0 Disable Name function specification 1 SRDY Servo ready 2 BRKR Electromagnetic brake output 3 TGON Motor rotation output 4 ZS Zero speed signal 5 V_Near Speeds approaching 6 V_CMP Speed arrival 7 P_Near Position approaching 8 P_CMP Position arrival 9 T_Limt Torque limit signal 10 V_Limt Speed limit signal Servo status ready to receive S-ON signal: Valid:servo ready Invalid:servo not ready Electromagnetic brake signal output: Valid: lifting electromagnetic brake Invalid: enable electromagnetic brake Output signal when the servo motor rotates: Valid: motor rotation signal valid Invalid: motor rotation signal invalid Signal outputed when the servo motor stops: Valid: the motor speed is zero Invalid: motor speed is not zero Speed control: valid when the absolute value of the difference between the servo motor speed and the speed command is less than the set speed deviation value Pr3.10 Speed control mode: valid when the absolute value of the difference between the servo motor speed and the speed command is less than the set speed deviation value Pr3.11 Position control mode: valid when the position deviation pulse arrives within close positioning and complete signal amplitude Pr2.13 setpoint Position control mode: valid when the position deviation pulse arrives within close positioning and complete signal amplitude Pr2.14 setpoint Torque limit confirmation signal: Valid: motor torque limited Invalid: motor torque not limited Torque control:confirmation signal of speed limit: Valid: motor torque limited Invalid: motor torque not limited Running mode 11 WAR Alarm output signal State signal valid when detecting a warning P S T 12 ALM Fault output signal State signal valid when detecting a fault P S T Invalid: unable homing function or homing function 13 ORGC 14 INTF Homing complete signal Length determining completed after use, return to the origin of the failure; valid: enable homing function, return to the origin success Invalid: set length not completed Valid: set length completed P S T P S T P S T P S T S S P P P S T T P S T P 77

81 Appendix 15 PCMD_OK Instruction completed 16 PMC_OK Movement completed 17 INTFFAIL Length determining completed Pr7.XX:Auxiliary function parameters No. Parameter specification Factory default The internal position control mode, valid when each location is sent The internal position control mode, valid when each location is sent and the location is completed Invalid: The break length does not reach the limit Valid: The break length reaches seeker determined limit Setting range Fe atu re Running mode P P P Commun ication address Pr7.00 Jog function JOGEn - P S T 0x0700 Pr7.01 Jog speed setting 100 0~3000rpm P S T 0x0701 Pr7.02 Drive overload alert settings 80 20~100% P S T 0x0702 Pr7.03 Pr7.04 Pr7.05 Motor overload warning settings Drive overtemperature warning point Drive overtemperature fault point Pr7.06 Fan control 1 Pr7.07 Fault display selection ~100% P S T 0x ~Pr7.05 P S T 0x Pr7.04~100 P S T 0x0705 0: Servo operation is related with temperature when fan is on(when module temperature exceeds 45 the fan is running, when less than 40 the fan stops); Servo OFF, the fan stops. 1: when servo ON the fan is running; when servo OFF the fan operation is related with temperature (when module temperature exceeds 45 the fan is running, when less than 40 the fan stops) 2: the fan runs when power on 0: check the last fault 1: check the last 2ed fault 2: check the last 3rd fault 3: check the last 4 th fault P S T 0x0706 P S T 0x

82 Appendix Pr7.08 System parameters initialization Pr7.09 Software reset 0 Pr7.10 Fault reset 0 Pr7.11 Pr7.12 Pr7.19 Factory password 1, the retention parameters visible to the user, cleared after power Factory password 2, the retention parameters visible to the user, cleared after power Master power detection selection Pr8.XX:communication parameters: No. Parameter specification 0 0: no operation 1:clear fault record 2:restore factory default 0:no operation 1:system software reset 0:no operation 1:fault reset, implement 79 P S T 0x0708 P S T 0x0709 P S T 0x070A 0 0~65535 P S T 0x070B 0 0~65535 P S T 0x070C 0 Factory default 0: no power source detection 1: start power source detection Setting range P S T 0x0713 Fe atu re Running mode Communi cation address Pr Station number setting 1 1~254 P S T 0x0800 Pr8.01 Modbus communication mode selection Pr transmission rate 2 Pr8.03 Communication data format 0 Pr8.04 Communication disconnection action mode 0 0 0: RTU mode 1: ASCII mode 0: 4800 bps 1: 9600 bps 2: bps 3: bps 4: bps 5: bps 0: 8 data bits, no parity, 1 stop bit 1: 8 data bits, odd parity, 1 stop bit 2: 8 data bits, even parity, 1 stop bit 3: 8 data bits, no parity, 2 stop bits 4: 8 data bits, odd parity, 2 stop bits 5: 8 data bits, even parity, 2 stop bits 0: Warning and maintain operation P S T 0x0801 P S T 0x0802 P S T 0x0803 P S T 0x0804

83 Appendix Pr8.05 Communication timeout 0 Pr8.10 Pr8.11 CAN communication station number setting CAN communication transmission rate Pr9.XX:internal multi-position No. Pr9.00 Pr9.01 Pr9.02 Pr9.03 Pr9.04 Pr9.05 Pr9.06 Pr9.07 Pr9.08 Pr9.09 Pr9.10 Pr9.11 Pr9.12 Parameter specification Cycles of internal position command 1 Pulse of internal position command 1 Moving speed of internal position command 1 Waiting time after completing the 1 st position Cycles of internal position command 2 Pulse of internal position command 2 Moving speed of internal position command 2 Waiting time after completing the 2ed position Cycles of internal position command 3 Pulse of internal position command 3 Moving speed of internal position command 3 Waiting time after completing the 3rd position Cycles of internal position command 4 1: Report fault and stop running 0~20S (Communication timeout is disabled when 0) 80 P S T 0x ~254 P S T 0x080A 2 Factory default 0: 20K 1: 50K 2: 100K 3: 125K 4: 250K 5: 500K 6: 1000K(1M) Setting range P S T 0x080B Fe atu re Running mode Communi cation address 0 0~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x090A ~ S P 0x090B 0 0~±30000 rev P 0x090C

84 Appendix Pr9.13 Pr9.14 Pr9.15 Pr9.16 Pr9.17 Pr9.18 Pr9.19 Pr9.20 Pr9.21 Pr9.22 Pr9.23 Pr9.24 Pr9.25 Pr9.26 Pr9.27 Pr9.28 Pr9.29 Pr9.30 Pr9.31 Pr9.32 Pr9.33 Pr9.34 Pulse of internal position command 4 Moving speed of internal position command 4 Waiting time after completing the 4th position Cycles of internal position command 5 Pulse of internal position command 5 Moving speed of internal position command 5 Waiting time after completing the 5th position Cycles of internal position command 6 Pulse of internal position command 6 Moving speed of internal position command 6 Waiting time after completing the 6th position Cycles of internal position command 7 Pulse of internal position command 7 Moving speed of internal position command 7 Waiting time after completing the 7th position Cycles of internal position command 8 Pulse of internal position command 8 Moving speed of internal position command 8 Waiting time after completing the 8th position Cycles of internal position command 9 Pulse of internal position command 9 Moving speed of internal position command 9 0 0~±9999 Puls P 0x090D ~3000 rpm P 0x090E ~ S P 0x090F 0 0~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x091A ~ S P 0x091B 0 0~±30000 rev P 0x091C 0 0~±9999 Puls P 0x091D ~3000 rpm P 0x091E ~ S P 0x091F 0 0~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x

85 Appendix Pr9.35 Pr9.36 Pr9.37 Pr9.38 Pr9.39 Pr9.40 Pr9.41 Pr9.42 Pr9.43 Pr9.44 Pr9.45 Pr9.46 Pr9.47 Pr9.48 Pr9.49 Pr9.50 Pr9.51 Pr9.52 Pr9.53 Pr9.54 Pr9.55 Pr9.56 Waiting time after completing the 9th position Cycles of internal position command 10 Pulse of internal position command 10 Moving speed of internal position command 10 Waiting time after completing the 10th position Cycles of internal position command 11 Pulse of internal position command 11 Moving speed of internal position command 11 Waiting time after completing the 11th position Cycles of internal position command 12 Pulse of internal position command 12 Moving speed of internal position command 12 Waiting time after completing the 12th position Cycles of internal position command 13 Pulse of internal position command 13 Moving speed of internal position command 13 Waiting time after completing the 13th position Cycles of internal position command 14 Pulse of internal position command 14 Moving speed of internal position command 14 Waiting time after completing the 14th position Cycles of internal position command ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x092A ~ S P 0x092B 0 0~±30000 rev P 0x092C 0 0~±9999 Puls P 0x092D ~3000 rpm P 0x092E ~ S P 0x092F 0 0~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x ~±9999 Puls P 0x ~3000 rpm P 0x ~ S P 0x ~±30000 rev P 0x

86 Appendix Pr9.57 Pulse of internal position command ~±9999 Puls P 0x0939 Pr9.58 Moving speed of internal position command ~3000 rpm P 0x093A Pr9.59 Waiting time after completing the 15th position ~ S P 0x093B Pr9.60 Cycles of internal position command ~±30000 rev P 0x093C Pr9.61 Pulse of internal position command ~±9999 Puls P 0x093D Pr9.62 Moving speed of internal position command ~3000 rpm P 0x093E Pr9.63 Waiting time after completing the 16 th position ~ S P 0x093F PrA.XX:Internal multi-speed control parameters No. PrA.00 PrA.01 PrA.02 PrA.03 PrA.04 PrA.05 PrA.06 PrA.07 PrA.08 PrA.09 PrA.10 PrA.11 PrA.12 Parameter specification Internal speed command register 1 1 st speed instruction running time Internal speed command register 2 2ed speed instruction running time Internal speed command register 3 3 rd speed instruction running time Internal speed command register 4 4 th speed instruction running time Internal speed command register 5 5 th speed instruction running time Internal speed command register 6 6 th speed instruction running time Internal speed command register 7 Factory default Setting range Fe atu Running mode Communi cation 400 0~±5000 rpm S 0x0A ~ S S 0x0A01 0 0~±5000 rpm S 0x0A ~ S S 0x0A ~±5000 rpm S 0x0A ~ S S 0x0A05 0 0~±5000 rpm S 0x0A ~ S S 0x0A ~±5000 rpm S 0x0A ~ S S 0x0A09 0 0~±5000 rpm S 0x0A0A ~ S S 0x0A0B ~±5000 rpm S 0x0A0C 83

87 Appendix PrA.13 PrA.14 PrA.15 PrA.16 PrA.17 PrA.18 PrA.19 PrA.20 PrA.21 PrA.22 PrA.23 PrA.24 PrA.25 PrA.26 PrA.27 PrA.28 PrA.29 PrA.30 PrA.31 7 th speed instruction running time Internal speed command register 8 8 th speed instruction running time Internal speed command register 9 9 th speed instruction running time Internal speed command register th speed instruction running time Internal speed command register th speed instruction running time Internal speed command register th speed instruction running time Internal speed command register th speed instruction running time Internal speed command register th speed instruction running time Internal speed command register th speed instruction running time Internal speed command register th speed instruction running time ~ S S 0x0A0D 0 0~±5000 rpm S 0x0A0E ~ S S 0x0A0F ~±5000 rpm S 0x0A ~ S S 0x0A11 0 0~±5000 rpm S 0x0A ~ S S 0x0A ~±5000 rpm S 0x0A ~ S S 0x0A15 0 0~±5000 rpm S 0x0A ~ S S 0x0A ~±5000 rpm S 0x0A ~ S S 0x0A19 0 0~±5000 rpm S 0x0A1A ~ S S 0x0A1B ~±5000 rpm S 0x0A1C ~ S S 0x0A1D 0 0~±5000 rpm S 0x0A1E ~ S S 0x0A1F 84

88 Appendix PrE.XX:motor parameters No. Parameter specification Factory Fe Running Communi Setting range default atu mode cation PrE.00 Hardware version #.# Model determined - P S T 0x0E00 PrE.01 DSP version number #### Model determined - P S T 0x0E01 PrE.02 FPGA version number #.# Model determined - P S T 0x0E02 PrE.03 Drive power rating #.## Model determined - P S T 0x0E03 PrE.04 Current motor model ### Model determined - P S T 0x0E04 PrE.05 Motor parameter password ##### 0~65535 P S T 0x0E05 The following sections can only be modified and checked by inputting correct password in PrE.05 PrE.06 Motor model selection #### Model determined P S T 0x0E06 PrE.07 Motor rated power (W) ##.## Model determined P S T 0x0E07 PrE.08 Motor rated voltage (V) ### Model determined P S T 0x0E08 PrE.09 Motor rated current (A) ##.## Model determined P S T 0x0E09 PrE.10 Motor maximum current (A) ##.## Model determined P S T 0x0E0A PrE.11 Motor rated torque (N m) ###.## Model determined P S T 0x0E0B PrE.12 maximum motor torque (rpm) ###.## Model determined P S T 0x0E0C PrE.13 Motor rated speed (N m) #### Model determined P S T 0x0E0D PrE.14 Motor maximum speed (N #### Model determined P S T m) 0x0E0E PrE.15 Number of pole pairs (pair) ### Model determined P S T 0x0E0F PrE.16 Stator inductance Lq (mh) ###.## Model determined P S T 0x0E10 PrE.17 Stator inductance Ld (mh) ###.## Model determined P S T 0x0E11 PrE.18 Line - line resistance (Ω) #### Model determined P S T 0x0E12 PrE.19 Counter electromotive force ##.## Model determined P S T constant (V) 0x0E13 PrE.20 Electrical time constant ##.## Model determined P S T 0x0E14 PrE.21 Mechanical time constant ##.## Model determined P S T 0x0E15 PrE.22 Torque constant (N m / A) ##.## Model determined P S T 0x0E16 PrE.23 Rotor moment of inertia (kg ###.## Model determined P S T cm2) 0x0E17 PrE.24 Current loop proportional gain # Model determined P S T 0x0E18 PrE.25 Encoder selection: 0: non wireless incremental encoder 1: wireless encoder # Model determined P S T 0x0E19 PrE.26 Encoder lines (not 4-fold ago) #### Model determined P S T 0x0E1A 85

89 Appendix PrE.27 Reserved 0x0E1B PrE.28 Zero signal offset angle ( ) #.# Model determined P S T 0x0E1C PrE.29 Encoder UVW shift angle ( ) #.# Model determined P S T 0x0E1D PrE.30 Current loop integral gain # Model determined P S T 0x0E1E Appendix 1--- function code PrE.04 corresponding list (220V) Motor Model Note 500 SMM06-2TR10-U1NL5 0.1Kw non wireless encoder 60 fange 501 SMM06-2TR20-U1NL5 0.2Kw non wireless encoder 60 fange 502 SMM06-2TR40-U1NL5 0.4Kw non wireless encoder60 flange 503 SMM06-2TR60-U1NL5 0.6Kw non wireless encoder 60 flange 504 SMM08-2TR75-U1NL5 0.75Kw non wireless encoder 80 flange 505 SMM08-2T1R0-U1NL5 1.0Kw non wireless encoder 80 flange 753 SMM11-2T1R2-U1NH 1.2Kw non wireless encoder 110 flange 754 SMM11-2S1R2-U1NH 1.2Kw non wireless encoder 110 flange 755 SMM11-2T1R5-U1NH 1.5Kw non wireless encoder 110 flange 756 SMM11-2T1R8-U1NH 1.8Kw non wireless encoder 110 flange 506 SMM13-2U1R0-U1NH5 1.0Kw non wireless encoder 130 flange 507 SMM13-2U1R3-U1NH5 1.3Kw non wireless encoder 130 flange 508 SMM13-2U1R5-U1NH5 1.5Kw non wireless encoder 130 flange 509 SMM13-2U2R0-U1NH5 2.0Kw non wireless encoder 130 flange 600 SMM13-2L1R0-U1NH5 1.0Kw non wireless encoder 130 flange 601 SMM13-2Y1R5-U1NH5 1.5Kw non wireless encoder 130 flange 602 SMM13-2U2R6-U1NH5 2.6Kw non wireless encoder 130 flange 603 SMM13-2Y2R3-U1NH5 2.3Kw non wireless encoder 130 flange 604 SMM13-2U3R8-U1NH5 3.8Kw non wireless encoder 130 flange Appendix 3---servomotor nameplate (see ID:501) Motor code(pre.04) Model Note 605 SMM18-3Y2R9-U1NH5 2.9Kw non wireless encoder 180 flange 606 SMM18-3Y4R4-U1NH5 4.4Kw non wireless encoder 180 flange 607 SMM18-3Y5R5-U1NH5 5.5Kw non wireless encoder 180 flange 608 SMM18-3Y7R5-U1NH5 7.5Kw non wireless encoder 180 flange 86

90 Appendix Note: The ID number on motor nameplate corresponds to the PrE.04 value in drive function code, please make sure that the ID number is the same as PrE.04 set value, and if they are not the same, please contact the dealer or manufacturer. Incorrect PrE.04 setting may lead to machine malfunction. 87